Method and device for judging inclination, displacement and reset of well lid

Abstract

The invention discloses a method and a device for judging inclination, displacement and resetting of a well lid. The method comprises the following steps: detecting the angle change of the well lid and the movement change of the well lid from a reference obstacle; and the inclination, displacement and reset states of the well lid are judged according to the angle change delta An and the distance movement change. The acceleration sensor is installed on the well lid to detect the abnormal movement and inclination state of the well lid, meanwhile, according to the radar ranging sensor, the distance of the well lid reference object is detected, whether the well lid inclines, shifts and resets or not is judged in real time through the well lid state and radar ranging data, and if the state changes, the communication module reports information in time. Compared with the prior art, on the basis of hardware needed by a product, the well lid inclination, displacement and reset judgment is creatively achieved through software design, additional hardware cost does not need to be increased, judgment logic is more comprehensive, and the field environment adaptability is higher.

Description

Technical Field

[0001] The invention relates to the field of manhole cover monitoring, and in particular to a method and a device for judging the inclination, displacement and resetting of a manhole cover. Background Art

[0002] Manhole covers are very important as the entrance to underground pipelines. Manhole cover displacement is one of the common problems in cities. It not only affects the passage of pedestrians and vehicles, but also poses certain hidden dangers to urban safety. Therefore, timely handling of manhole cover displacement is one of the important measures to ensure urban safety and development.

[0003] At present, most of the manhole cover displacement detection is solved by tilt sensors, but they can only solve the problem of tilt displacement, but cannot solve the problem of translation displacement and reset when the manhole cover does not trigger the tilt threshold. However, translation displacement is a very common phenomenon in the actual use of manhole covers. Another way to solve the problem is to install video surveillance manhole covers and perform visual analysis, but the cost is very high and is greatly affected by the environment (nighttime fill light, etc.), so it is not feasible for actual engineering applications. Summary of the invention

[0004] The purpose of the present invention is to provide a method and device for determining the tilt, displacement and reset of a manhole cover, aiming to solve the problem of detecting the tilt, displacement and reset of the manhole cover during actual use, especially the problem of detecting the translation displacement.

[0005] A method for determining the tilt, displacement and resetting of a manhole cover, comprising the steps of: S1, detect the change in the angle of the manhole cover ΔAn and the movement change ΔH of the manhole cover from the reference obstacle; S2. Determine the tilt, displacement and reset status of the manhole cover according to the angle change ΔAn and the distance movement change ΔH: If ΔAn is greater than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is tilted; If ΔAn is greater than the set threshold, and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is reset.

[0006] Preferably, in step S1, an acceleration sensor disposed on the manhole cover is used to detect an angle change ΔAn of the manhole cover; and a radar ranging sensor disposed on the manhole cover is used to detect a movement change ΔH of the manhole cover from a reference obstacle.

[0007] Preferably, the reference obstacle is one of the bottom of the well, the liquid surface in the well, and the side wall of the well before the manhole cover moves; after the manhole cover moves, if the radar ranging sensor cannot measure the reference obstacle before the manhole cover moves, the reference obstacle is converted to other obstacles outside the well, or the measured distance is infinite.

[0008] Preferably, the method further comprises the steps of: S3. The result of determining the tilt, displacement and reset status of the manhole cover is reported to the superior equipment through the communication module.

[0009] Preferably, after the device detected in step S1 is installed on the manhole cover, the current posture of the manhole cover and the distance between the manhole cover and the reference obstacle are recorded, so that the device enters a low power consumption state and only receives alarms from detection sensors.

[0010] Preferably, in step S1, when the manhole cover state changes from a stationary state to a moving state, a manhole cover movement alarm is issued, and the manhole cover inclination angle and distance last measured in the stationary state are recorded; when the manhole cover stops moving and enters a stationary state again, the angle change ΔAn before and after the movement is determined, and the distance change ΔH before and after the movement is determined.

[0011] The device for judging the tilt, displacement and reset of the manhole cover comprises: Acceleration sensor to detect the angle of the manhole cover; Radar ranging sensor, detecting the distance between the manhole cover and the reference obstacle; MCU determines the tilt, displacement and reset status of the manhole cover according to the angle change ΔAn and the distance movement change ΔH: If ΔAn is greater than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is tilted; If ΔAn is greater than the set threshold, and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is reset.

[0012] Preferably, the device also includes a communication module, which is connected to the upper-level device for communication, and reports the results of determining the tilt, displacement and reset state of the manhole cover to the upper-level device for alarm.

[0013] Preferably, after the device is installed on the manhole cover, it records the current posture of the manhole cover and the distance between the manhole cover and a reference obstacle, allowing the device to enter a low power consumption state and only receive alarms from the acceleration sensor and the radar ranging sensor.

[0014] Preferably, the acceleration sensor detects that the state of the manhole cover changes from a static state to a moving state, and sends a wake-up signal to the MCU.

[0015] The technical solution of the present invention is: The advantages of the present invention are: The present invention provides a new method and device for judging abnormal tilt, displacement and reset of a manhole cover. An acceleration sensor is installed on the manhole cover to detect the abnormal movement and tilt state of the manhole cover. At the same time, the distance between the manhole cover and the bottom of the well / liquid level is detected based on the radar ranging sensor. Through the manhole cover state and radar ranging data, it is judged in real time whether the manhole cover is tilted, displaced or reset. If a state change occurs, the communication module reports the information in time. Compared with the prior art, the present invention is based on the hardware required by the product itself, and creatively realizes the judgment of manhole cover tilt, displacement and reset through software design, without adding additional hardware costs, and the judgment logic is more comprehensive and has higher adaptability to the on-site environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below in conjunction with the accompanying drawings and embodiments: Figure 1 The schematic diagram of the device for judging the tilt, displacement and reset of a manhole cover of the present invention; Figure 2 A flow chart of the method for determining the tilt, displacement and resetting of a manhole cover according to the present invention; Figure 3 It is a schematic diagram of the base structure of the device of the present invention; Figure 4 It is a schematic diagram of the upper cover structure of the device of the present invention; Figure 5 It is a schematic diagram of the sealing ring structure of the device of the present invention; Figure 6 This is a schematic diagram of the detachable ear structure of the device of the present invention; Figure 7 It is a schematic diagram of the magnet pressure plate structure of the device of the present invention; Figure 8 The figure is a schematic diagram of the radar horn antenna structure of the device of the present invention. DETAILED DESCRIPTION

[0017] In response to the difficulties encountered in the industry, the present invention is based on the actual needs of monitoring manhole cover movement and liquid level. It creatively uses the hardware requirements of the product itself, and utilizes the acceleration sensor of manhole cover movement and the radar ranging principle of outputting infinite measurement data in blind spots and beyond the ranging range. Through software design, a new method for detecting abnormal tilt, displacement and reset of manhole covers is provided. An acceleration sensor is installed on the manhole cover to detect the movement and tilt state of the manhole cover. At the same time, the distance between the manhole cover and the bottom of the well / liquid level is detected based on the radar ranging sensor. Through the manhole cover status and radar ranging data, it is possible to determine in real time whether the manhole cover is tilted, displaced or reset. If a state change occurs, the information is reported promptly through the network.

[0018] like Figure 1 As shown, in order to solve the above technical problems of the present invention, the device for judging the inclination, displacement and resetting of the manhole cover proposed by the present invention comprises: The acceleration sensor detects the angle of the manhole cover and the state of the manhole cover from static to moving, and sends a wake-up signal to the MCU; The radar ranging sensor detects the distance between the manhole cover and a reference obstacle; the reference obstacle is one of the bottom of the well, the liquid surface in the well, and the side wall of the well before the manhole cover moves; after the manhole cover moves, if the radar ranging sensor cannot measure the reference obstacle before the manhole cover moves, the reference obstacle is converted to other obstacles outside the well, or the measured distance is infinite.

[0019] MCU determines the tilt, displacement and reset status of the manhole cover according to the angle change ΔAn and distance movement change ΔH of the manhole cover: If ΔAn is greater than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is tilted; If ΔAn is greater than the set threshold, and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold, and ΔH is less than the set threshold, it is determined that the manhole cover is reset; The communication module is connected to the upper-level equipment for communication and reports the results of determining the tilt, displacement and reset status of the manhole cover to the upper-level equipment for alarm.

[0020] After the device is installed on the manhole cover, it records the current posture of the manhole cover and the distance between the manhole cover and a reference obstacle, and allows the device to enter a low power consumption state, receiving only alarms from an acceleration sensor and a radar ranging sensor.

[0021] like Figure 2 As shown, the method for determining the tilt, displacement and resetting of a manhole cover proposed by the present invention comprises the following steps: S1. After the detection device is installed on the manhole cover, the current posture of the manhole cover and the distance between the manhole cover and the reference obstacle are recorded, and the device enters a low power consumption state and only receives the detection sensor alarm; The acceleration sensor installed on the manhole cover detects the state of the manhole cover from static to moving, issues an alarm for abnormal movement of the manhole cover, and records the inclination angle and distance of the manhole cover measured last time in the static state. When the manhole cover stops moving and enters the static state again, the angle change of the manhole cover ΔAn is detected; the radar ranging sensor detects the movement change ΔH of the manhole cover from the reference obstacle; Before the manhole cover moves, the reference obstacle is one of the bottom of the well, the liquid surface in the well, and the side wall of the well; after the manhole cover moves, if the radar ranging sensor cannot measure the reference obstacle before the manhole cover moves, the reference obstacle is converted to other obstacles outside the well; if no obstacle is measured outside the well, for example, the radar ranging sensor is close to the surface and is in the sensor blind spot, and the radar ranging sensor is facing the sky and exceeds the ranging range, the measured distance is infinite.

[0022] S2. Determine the tilt, displacement and reset status of the manhole cover according to the angle change ΔAn and the distance movement change ΔH: If ΔAn is greater than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is tilted; If ΔAn is greater than the set threshold, and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold, and ΔH is less than the set threshold, it is determined that the manhole cover is reset; The angle change threshold and the distance change threshold can be set according to the on-site situation. In S1, if other obstacles outside the well are detected, or the radar ranging sensor is close to the ground and in the sensor blind area, or the radar ranging sensor is facing the sky and exceeds the ranging range, the measured distance is infinite, which means that ΔH is greater than the set threshold, and the manhole cover can be determined to be displaced.

[0023] S3. The result of determining the tilt, displacement and reset status of the manhole cover is reported to the superior equipment through the communication module.

[0024] like Figure 3-8 As shown, the device for judging the tilt, displacement and reset of the manhole cover of the present invention also includes a mechanical structure: a base 1, an upper cover 2, a sealing ring 3, a detachable hanging ear 4, a magnetic pressing plate 5, and a radar horn antenna 6. The side of the base 1 is fixed to the manhole cover through the detachable hanging ear 5, the electronic equipment circuit board mentioned above is placed inside the base 1, and the magnetic pressing plate 5 is fixed at the bottom of the base 1; the upper cover 2 is sealed on the base 1 through the sealing ring 3. The radar ranging sensor in the electronic equipment circuit board is provided with a radar horn antenna 6.

[0025] The present invention is based on the hardware required by the product itself, and creatively realizes the judgment of manhole cover tilt, displacement, and reset through software design, without adding additional hardware costs. The judgment logic is more comprehensive and has higher adaptability to the on-site environment. The product has been put into on-site use and has been fully recognized by customers.

[0026] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any modifications made according to the spirit of the main technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining the tilt, displacement and resetting of a manhole cover, characterized in that: Includes steps: S1, detect the change in the angle of the manhole cover ΔAn and the movement change ΔH of the manhole cover from the reference obstacle; S2. Determine the tilt, displacement and reset status of the manhole cover according to the angle change ΔAn and the distance movement change ΔH: If ΔAn is greater than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is tilted; If ΔAn is greater than the set threshold, and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is reset.

2. The method for determining the tilt, displacement and resetting of a manhole cover according to claim 1, characterized in that: In step S1, an acceleration sensor disposed on the manhole cover is used to detect an angle change ΔAn of the manhole cover; and a radar ranging sensor disposed on the manhole cover is used to detect a movement change ΔH of the manhole cover from a reference obstacle.

3. The method for determining the tilt, displacement and resetting of a manhole cover according to claim 2, characterized in that: The reference obstacle is one of the bottom of the well, the liquid surface in the well, and the side wall of the well before the manhole cover moves; after the manhole cover moves, if the radar ranging sensor cannot measure the reference obstacle before the manhole cover moves, the reference obstacle is converted to other obstacles outside the well, or the measured distance is infinite.

4. The method for determining the tilt, displacement and resetting of a manhole cover according to claim 1, characterized in that: Also includes the steps: S3. The result of determining the tilt, displacement and reset status of the manhole cover is reported to the superior equipment through the communication module.

5. The method for determining the tilt, displacement and resetting of a manhole cover according to claim 1, characterized in that: After the device detected in step S1 is installed on the manhole cover, the current posture of the manhole cover and the distance between the manhole cover and the reference obstacle are recorded, and the device enters a low power consumption state and only receives the alarm of the detection sensor.

6. The method for determining the tilt, displacement and resetting of a manhole cover according to claim 1, characterized in that: In step S1, when the manhole cover state changes from static to moving state, a manhole cover movement alarm is issued, and the manhole cover inclination angle and distance measured in the static state for the last time are recorded. When the manhole cover stops moving and enters the static state again, the angle change ΔAn before and after the movement is determined, and the distance change ΔH before and after the movement is determined.

7. A device for determining the tilt, displacement and resetting of a manhole cover, characterized in that: include: Acceleration sensor to detect the angle of the manhole cover; Radar ranging sensor, detecting the distance between the manhole cover and the reference obstacle; MCU determines the tilt, displacement and reset status of the manhole cover according to the angle change ΔAn and the distance movement change ΔH: If ΔAn is greater than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is tilted; If ΔAn is greater than the set threshold, and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is greater than the set threshold, it is determined that the manhole cover is displaced; If ΔAn is less than the set threshold and ΔH is less than the set threshold, it is determined that the manhole cover is reset.

8. The device for determining the tilt, displacement and reset of a manhole cover according to claim 7, characterized in that: It also includes a communication module, which is connected to the upper-level equipment for communication and reports the results of determining the tilt, displacement and reset status of the manhole cover to the upper-level equipment for alarm.

9. The device for determining the tilt, displacement and reset of a manhole cover according to claim 7, characterized in that: After the device is installed on the manhole cover, it records the current posture of the manhole cover and the distance between the manhole cover and a reference obstacle, and allows the device to enter a low power consumption state, receiving only alarms from an acceleration sensor and a radar ranging sensor.

10. The device for determining the inclination, displacement and resetting of a manhole cover according to claim 7, characterized in that: The acceleration sensor detects that the state of the manhole cover changes from a static state to a moving state, and sends a wake-up signal to the MCU.

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