Automatic monitoring system for deformation of cableway support

Abstract

The invention belongs to the technical field of cableway monitoring, and particularly relates to a cableway support deformation automatic monitoring system, which comprises a data acquisition system, a data preprocessing system and a data application system, and is characterized in that the output end of the data acquisition system and the input end of the data preprocessing system are connected with a cloud server; the output end of the data preprocessing system is connected with the input end of the data application system; the data acquisition system comprises a GNSS base station, a GNSS mobile station, an accelerometer, a clinometer and a weather instrument, and the data preprocessing system comprises data decoding, data verification, quality evaluation, format conversion and a database. The GNSS deformation monitoring technology is introduced into a cableway deformation monitoring project, an automatic monitoring system based on a GNSS sensor and the like is developed, a high-precision structural deformation data resolving scheme is explored, and the method has important significance for improving the precision, real-time performance and reliability of cableway support deformation monitoring and guaranteeing safe operation of a cableway system.

Description

Technical Field

[0001] The invention relates to the technical field of cableway monitoring, and in particular to an automatic monitoring system for cableway support deformation. Background Art

[0002] A cableway is a transport machine that drives a steel cable along a track with a certain slope to transport people or goods. As a unique mode of transportation, the cableway shows its unique advantages in specific environments and application scenarios. The cableway can directly cross natural and man-made obstacles such as mountains, rivers, and canyons, and plays an irreplaceable role in specific geographical environments. There is a natural close connection between the cableway and the tourism industry. It provides a comfortable riding experience and a unique landscape perspective, adding unique appeal and experience value to tourist areas such as mountains and skiing. The operating cost of the cableway is relatively low, and it has a significant positive effect on promoting the development of tourism in scenic spots or cities. The design and installation of the cableway system can be flexibly adjusted based on terrain conditions and specific needs, showing a high degree of adaptability and flexibility. In terms of ecological protection, the construction and operation of the cableway has relatively little damage and impact on the natural environment. Usually, it only needs to be built at the starting station, the terminal station and the necessary intermediate support points, which greatly reduces the occupation of land and interference with the natural landscape.

[0003] During the long-term operation of the cableway, its support structure may be deformed or its internal structure may change under the influence of a series of internal and external environmental factors. The accumulation of such changes will increase the risk of safety accidents and threaten the normal operation of the cableway system and the lives of passengers and staff. Therefore, it is imperative to establish an effective cableway support deformation monitoring system.

[0004] The current intelligent monitoring system for cableways mainly focuses on monitoring the local structure or equipment of the cableway. There is a lack of development of an automated monitoring system for cableway supports. Traditional deformation monitoring of cableway supports mainly relies on on-site measurements using total stations, levels and other instruments with a high degree of manual participation, and has a low level of intelligence. Summary of the invention

[0005] 1. Technical issues to be solved

[0006] The purpose of the present invention is to solve the problem that the traditional deformation monitoring of cableway supports in the prior art mainly relies on on-site measurement of instruments such as total stations and levels with high manual participation, and has a low degree of intelligence, and to propose an automatic deformation monitoring system for cableway supports.

[0007] 2. Technical solution

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A cableway support deformation automatic monitoring system includes a data acquisition system, a data preprocessing system and a data application system, wherein the output end of the data acquisition system is connected to the input end of the data preprocessing system through a cloud server, and the output end of the data preprocessing system is connected to the input end of the data application system;

[0010] The data acquisition system includes a GNSS reference station, a GNSS mobile station, an accelerometer, an inclinometer and a meteorological instrument; the data preprocessing system includes data decoding, data verification, quality assessment, format conversion and a database; the output end of the data decoding is connected to the input end of the data verification, the output end of the data verification is connected to the input end of the quality assessment, the output end of the quality assessment is connected to the input end of the format conversion, and the output end of the format conversion is connected to the input end of the database;

[0011] The data application system includes an operation resource layer, a data storage layer, a data access layer, a business logic layer and a front-end display layer. The output end of the operation resource layer is connected to the input end of the data storage layer, the output end of the data storage layer is bidirectionally connected to the input end of the data access layer, the output end of the data access layer is bidirectionally connected to the input end of the business logic layer, and the output end of the business logic layer is bidirectionally connected to the input end of the front-end display layer.

[0012] Preferably, the accelerometer, inclinometer and meteorological instrument are directly connected to the Internet via DTU, and the observation files of the GNSS reference station and the GNSS mobile station are respectively transmitted to the cloud server in real time using TCP / IP and FTP transmission protocols.

[0013] Preferably, the GNSS reference station and the GNSS mobile station use the SP90M GNSS receiver of Trimble Corporation.

[0014] Preferably, the accelerometer uses the T3E micro-electromechanical system three-axis acceleration sensor produced by Beijing Tuoce Technology Co., Ltd., the inclinometer uses the AT203 two-axis tilt sensor, and the meteorological instrument uses the ZK-CS ultrasonic integrated meteorological instrument produced by Zhongke Zhengqi Technology Co., Ltd.

[0015] Preferably, the operating resource layer is an Alibaba Cloud server.

[0016] Preferably, the data storage layer is a MySQL database.

[0017] Preferably, the data access layer includes user management data access, multi-sensor data access, and analysis and evaluation data access.

[0018] Preferably, the business logic layer includes user login information management, data query processing business and real-time analysis, evaluation and early warning, and the real-time analysis, evaluation and early warning include real-time coordinate solution, deformation monitoring and evaluation, center linearity solution, horizontal torsion evaluation and vertical inclination evaluation.

[0019] Preferably, the front-end display layer includes an access device and a front-end architecture, the access device includes a PC and a large screen, and the front-end structure includes HTML5, JS / CSS, Element, Vue.js, Echarts and Axios.

[0020] 3. Beneficial effects

[0021] Compared with the prior art, the advantages of the present invention are:

[0022] In the present invention, by introducing GNSS deformation monitoring technology into the cableway deformation monitoring project, an automatic monitoring system based on GNSS and other sensors is developed, and a high-precision structural deformation data solution is explored, which is of great significance to improving the accuracy, real-time and reliability of cableway support deformation monitoring and ensuring the safe operation of the cableway system. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic diagram of the composition of an automatic monitoring system for cableway support deformation proposed by the present invention;

[0024] Figure 2 A schematic diagram of the composition of a data application system in a cableway support deformation automatic monitoring system proposed by the present invention;

[0025] Figure 3 The GNSS standard NMEA format data diagram proposed by the present invention;

[0026] Figure 4 The program diagram of the observation data receiving module proposed by the present invention;

[0027] Figure 5 This is a large-screen display page diagram of the monitoring platform proposed by the present invention;

[0028] Figure 6 This is the real-time data display page diagram proposed by the present invention;

[0029] Figure 7 Figure 1 is a page diagram of the original observation and ephemeris file download proposed by the present invention;

[0030] Figure 8 This is a parameter setting page diagram proposed by the present invention;

[0031] Fig. 9 The data integrity and validity assessment page diagram proposed by the present invention;

[0032] Fig.10 This is a schematic diagram of the cableway support GNSS static baseline network adjustment network type proposed in Example 2 of the present invention;

[0033] Fig.11 It is a cableway coordinate system design diagram proposed in Example 2 of the present invention;

[0034] Fig.12 This is a schematic diagram of the GNSS dual antenna proposed in Example 2 of the present invention. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] Embodiment 1:

[0037] Reference Figure 1-2 , an automatic monitoring system for cableway support deformation, including a data acquisition system, a data preprocessing system and a data application system, wherein the output end of the data acquisition system is connected to the input end of the data preprocessing system through a cloud server, and the output end of the data preprocessing system is connected to the input end of the data application system;

[0038] In this embodiment, the data acquisition system includes a GNSS reference station, a GNSS mobile station, an accelerometer, an inclinometer and a meteorological instrument. The GNSS reference station and the GNSS mobile station use the SP90M GNSS receiver of Tianbao Company, the accelerometer uses the T3E micro-electromechanical system three-axis acceleration sensor of Beijing Tuoce Technology Co., Ltd., the inclinometer uses the AT203 two-axis tilt sensor, and the meteorological instrument uses the ZK-CS ultrasonic integrated meteorological instrument of Zhongke Zhengqi Technology Co., Ltd. The accelerometer, the inclinometer and the meteorological instrument are directly connected to the Internet through a DTU. The observation files of the GNSS reference station and the GNSS mobile station are respectively transmitted to the cloud server in real time using the TCP / IP and FTP transmission protocols. The data preprocessing system includes data decoding, data verification, quality assessment, format conversion and a database. The output end of the data decoding is connected to the input end of the data verification, the output end of the data verification is connected to the input end of the quality assessment, the output end of the quality assessment is connected to the input end of the format conversion, and the output end of the format conversion is connected to the input end of the database;

[0039] In this embodiment, the data application system includes an operation resource layer, a data storage layer, a data access layer, a business logic layer and a front-end display layer. The output end of the operation resource layer is connected to the input end of the data storage layer, the output end of the data storage layer is bidirectionally connected to the input end of the data access layer, the output end of the data access layer is bidirectionally connected to the input end of the business logic layer, and the output end of the business logic layer is bidirectionally connected to the input end of the front-end display layer.

[0040] In this embodiment, the running resource layer is Alibaba Cloud server, the data storage layer is MySQL database, the data access layer includes user management data access, multi-sensor data access, and analysis and evaluation data access, the business logic layer includes user login information management, data query processing business and real-time analysis, evaluation and early warning, real-time analysis, evaluation and early warning include real-time coordinate solution, deformation monitoring and evaluation, center linearity solution, horizontal torsion evaluation and vertical inclination evaluation, the front-end display layer includes access equipment and front-end architecture, access equipment includes PC and large screen, and the front-end structure includes HTML5, JS / CSS, Element, Vue.js, Echarts and Axios.

[0041] In this embodiment, refer to Figure 3-4 , the GNSS base station calculates the real-time differential data of each epoch and forwards it to the GNSS receiver of each bracket through the Trimble data flow management software TSM. Each receiver calculates RTK data through the built-in board card, obtains high-precision real-time positioning data and related information, and calculates space vector and attitude data based on the dual antenna system. The GNSS receiver sends standard NMEA format data to the server through the TCP / IP protocol, including data types such as GGKX, ARR, and ATT. Sensors such as inclinometers and meteorological instruments also transmit real-time monitoring data to the server through the TCP / IP protocol.

[0042] In this embodiment, the receiving, preprocessing and storage modules of the original observation data of the sensor are independent as separate applications. After the program receives the original data through the TCP / IP protocol, it completes the decoding and verification of the data, converts the verified data into the format required by the MySQL database and uploads it to the database for storage. The program is developed as a console application based on .NET 8 to maximize ease of use and save server memory and computing power, and the development language is C#. In order to facilitate the management of maintenance personnel, a separate process is created for each sensor. Before running, only the basic configuration needs to be implemented using the configuration file in JSON format, and it can be continuously run on the server. The program detects the connection status in real time and automatically tries to reconnect after disconnection. In the case of disconnection due to factors such as network fluctuations, no manual intervention is required to reconnect after recovery. The received data and the logs generated during the operation are saved in the form of text files to facilitate the management of the operation and maintenance personnel and the secondary confirmation of the data.

[0043] In this embodiment, ASP.NET Core, an open source, cross-platform, high-performance and lightweight web application building framework, is used, and the development language is C#. The call to the database uniformly uses the open source object relational mapping (ORM) framework Entity Framework Core, which can directly map data to objects, avoid manually spelling SQL statements, greatly improve development efficiency and optimize code structure. Based on the principle of front-end and back-end separation, a Web API type HTTP service framework is built to provide an API interface that meets the REST style.

[0044] In this embodiment, the traditional HTTP protocol and WebSocket hybrid development are used for implementation. WebSocket enables two-way communication between the server and the client, and realizes long connection. For the display of real-time monitoring data, the distribution of solution results, and analysis of alarms, WebSocket replaces the traditional polling method, which can significantly improve the operation efficiency. For operations such as single query of data, HTTP protocol is directly used to simplify the development and operation steps.

[0045] In this embodiment, a user management function is provided to set different user identities such as administrators and ordinary users. Users have the right to query data, and only administrators are allowed to modify certain key parameters. User authority verification uses the verification specification of JSON Web Token (JWT). The client provides the server with an account and password. If the account and password are correct, the server generates an encrypted Token string and returns it to the client. The client and server directly verify the identity and identify the authority through the Token.

[0046] In this embodiment, the server responds to the RTK solution results of multiple GNSS receivers at each epoch and the monitoring data of other sensors, and performs a health assessment of the cableway support system for the data of each epoch, including deformation assessment, center linearity assessment, horizontal torsion assessment, vertical inclination assessment, etc., and sends the results to the client. In addition, the server also provides historical data query, parameter management, original file download, historical data evaluation and other functions. Some API interfaces are shown in Table 1.

[0047] Table 1 Some API interfaces provided by the backend

[0048]

[0049]

[0050] In this embodiment, the system has 4 GNSS dual-antenna receivers with a sampling frequency of 1-10Hz, 2 three-axis accelerometers with a sampling frequency of 200Hz, 1 inclinometer with a sampling frequency of 2Hz, and 1 meteorological instrument with a sampling frequency of 0.1Hz. The long-term monitoring of multi-source sensors will generate a large amount of monitoring data. To this end, a database system with efficient storage, fast retrieval and real-time updates is required to meet the data storage requirements of the system. This system uses MySQL, an open source, free, high-performance relational database. The database is stored on the Alibaba Cloud server and remote access to data is achieved through the back-end system. The design of the data table is shown in Table 2.

[0051] Table 2 System database table design

[0052]

[0053]

[0054] In this embodiment, in order to display the monitoring data and health status of the cableway support in real time, a front-end web page display module is built. The front end is displayed in the form of a web page, built based on HTML, JS / CSS and JavaScript framework Vue 2.0, and uses the Element component library and chart drawing component Echarts based on the framework. Vue provides a declarative and componentized programming model, and separates business data and pages through the Model-View-ViewModel (MVVM) structure to improve development efficiency.

[0055] In this embodiment, a large-screen display page of the monitoring platform is designed for real-time display and monitoring in the operating unit. The homepage displays the real-time posture assessment of the bracket, alarm information, weather information, and daily cumulative deviation statistics of the bracket center. A certain space is reserved on the right for the access of the video monitor, such as Figure 5 As shown. For unacceptable health assessment parameters, an alarm will be issued on the client platform. In addition, functional modules such as real-time positioning data display, historical file download, system parameter setting, historical data query, and data quality assessment are designed.

[0056] In this embodiment, Figure 6 This is a real-time data display page that updates the RTK position coordinates and vector data calculated by GNSS in real time according to the selected bracket, antenna and coordinate system, and also provides historical data query function.

[0057] In this embodiment, Figure 7The following is the download page for the original observation and ephemeris files. After selecting the specified time period, the file information for each time period (one hour each) is listed in the list on the left, including the time period name, GPS time, and the number of files. After selecting a time period in the list, the list on the right displays all files in the time period and their related information, including the file name, file type, station type, station number, antenna number, and a download button for a single file. The file name conforms to the standard Rinex file naming format, the types include O file (observation file) and N file (ephemeris file), the station types include mobile station and base station, and the files are in compressed format. In the last column of the table on the left, check the time period for which you want to download data (you can check or uncheck all the titles), and click the "Download Data" button to complete batch download of files through the browser's built-in downloader.

[0058] In this embodiment, Figure 8 This is the system parameter setting page. This function requires administrator privileges. After modifying the parameters, click "Update Parameters". If the set parameters pass the parameter validity evaluation, the server-side data solution parameters can be updated.

[0059] In this embodiment, Fig. 9 This is the data integrity and validity assessment page, and the assessment cycle is 1 day. GNSS data can be evaluated for data quality, and other sensor data can only be evaluated for data integrity. The green part is high-precision data (GNSS fixed solution), the yellow part is low-precision data (GNSS floating point solution), the red part is invalid data (GNSS single-point positioning solution or other low-precision solutions), and the white part is missing data.

[0060] In this embodiment, by introducing GNSS deformation monitoring technology into the cableway deformation monitoring project, an automated monitoring system based on GNSS and other sensors is developed, and a high-precision structural deformation data solution is explored, which is of great significance to improving the accuracy, real-time and reliability of cableway support deformation monitoring and ensuring the safe operation of the cableway system.

[0061] Embodiment 2:

[0062] In this embodiment, the cableway coordinate system is designed as follows: GNSS directly observes the longitude and latitude coordinates in the CGCS2000 coordinate system; the longitude and latitude coordinates are Gaussian projected to obtain Gaussian coordinates. To ensure the accuracy of the plane coordinates, the central meridian of the Gaussian coordinate system needs to be selected near the survey area. For this reason, the central meridian selected by this system is 118° east longitude, the east direction additive constant is 0, and the north direction additive constant is -392000m.

[0063] In this embodiment, before designing the cableway coordinate system, the post-processing software TBC (Trimble Business Center) provided by Trimble is used to perform static network adjustment on multiple days of GNSS data to obtain the reference coordinates of each bracket. Data from the late night non-operating and windless period is selected to avoid the influence of system operation and environmental factors on the reference coordinate solution. Considering dual-antenna data, this system has 2 reference stations and 8 observation points. 9 independent baselines can be obtained in each time period. For this purpose, 21 baselines from three time periods are selected to participate in the static baseline network adjustment. The network design is as follows: Fig.10 Multiple days of data were selected for multiple network adjustment solutions, and the average coordinates were used as the reference coordinates of each bracket.

[0064] In this embodiment, the cableway design stage generally follows the straight line principle of the path, that is, the path of the cableway is close to an ideal straight line, thereby reducing turning points and additional stress caused by turning, while reducing lateral wind force and other lateral interference during operation, thereby ensuring the long-term, stable and safe operation of the cableway system. The dual antenna center coordinates of each cableway support are taken as the center coordinates of the cableway support, and the center straight line of the cableway support is fitted, and the fitting is performed in the horizontal direction. The linear fitting method usually uses the least squares method to solve the parameters, with the x coordinate as the independent variable and the y coordinate as the dependent variable. This method only considers the error in the y direction. However, through the overall least squares method, the errors in the x and y directions are taken into account as a whole, and its fitting effect and accuracy are better than the ordinary least squares method. The linear condition equation of the ordinary least squares method is shown in Formula 1, and the linear condition equation of the overall least squares method is shown in Formula 2.

[0065]

[0066] In this embodiment, where: i and i is the coordinate of the measured point, v xi and v yi x i and i The correction value of and are the parameters of the line to be estimated, namely the slope and intercept.

[0067] In this embodiment, the overall least squares error equation is described by the EIV model, as shown in Formula 3, E A 、E l are the errors of the design matrix A and the observation vector l respectively, and are solved by the mixed least squares method.

[0068] (A+E A )δX=l+E l #(3)

[0069] In this embodiment, after completing the horizontal straight line fitting of the cableway center, the cableway coordinate system is designed based on this: the cableway direction (X direction) of the cableway coordinate system is the direction of the fitted straight line, where the positive direction is from the center of bracket No. 8 to the center of bracket No. 3, and the counterclockwise rotation of 90° is the direction of the cableway (Y direction), and the foot of the perpendicular of the center of bracket No. 8 on the straight line is the coordinate origin. The coordinate system is designed as follows: Fig.11 As shown in Figure 2, Gaussian coordinates are converted into cableway coordinates through plane coordinate transformation, including coordinate translation and rotation.

[0070] In this embodiment, real-time health parameter calculation: Fig.12 The figure shows the installation diagram of the GNSS dual antenna. During the operation of the cableway, due to the existence of factors such as bracket displacement and torsion, a single cableway bracket in the system deviates from the center straight line of the cableway, which may pose a threat to the safe operation of the cableway system. For this reason, the most concerned bracket health parameter during the cableway operation stage is the cableway bracket center straightness, which is expressed as the center deviation distance. In addition, the cross arm inclination and torsion of the bracket also reflect the health of the cableway bracket.

[0071] In this embodiment, GNSS real-time data is used to solve the health parameters. After fitting the horizontal straight line of the cableway, the distance from the center of the bracket solved by GNSS in real time to the fitting straight line is directly calculated to obtain the real-time center deviation of the cableway bracket. It should be noted that there is a certain offset between the center of the dual antenna and the actual center of the bracket. The intersection of the bracket reference crossarm straight line and the cableway center straight line is used as the reference bracket center, and the offset between the midpoint of the reference dual antenna coordinates and the reference bracket center is calculated as the correction of the real-time bracket center. The GNSS dual antenna solves the short baseline of the two antennas in real time, and calculates the real-time pitch angle and yaw angle. Assuming the baseline between the antennas is b=(e, n, u), the calculation of the pitch angle pitch and the yaw angle yaw can be seen in formulas 4 and 5.

[0072]

[0073] In this embodiment, the pitch angle is used to reflect the inclination of the cableway support, and the yaw angle is used to reflect the torsion of the cableway crossarm. Considering the inclination and yaw angle errors caused by antenna installation errors, as well as the coordinate system differences of the yaw and torsion angles, the reference pitch angle and inclination angle can be calculated using the baseline of the dual-antenna reference coordinates as correction values ​​to solve the real-time torsion and inclination of the cableway support. The correction parameters mentioned in this embodiment can be modified through the front-end parameter setting module.

[0074] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A cableway support deformation automatic monitoring system, comprising a data acquisition system, a data preprocessing system and a data application system, characterized in that: The output end of the data acquisition system is connected to the input end of the data preprocessing system through the cloud server, and the output end of the data preprocessing system is connected to the input end of the data application system; The data acquisition system includes a GNSS reference station, a GNSS mobile station, an accelerometer, an inclinometer and a meteorological instrument; the data preprocessing system includes data decoding, data verification, quality assessment, format conversion and a database; the output end of the data decoding is connected to the input end of the data verification, the output end of the data verification is connected to the input end of the quality assessment, the output end of the quality assessment is connected to the input end of the format conversion, and the output end of the format conversion is connected to the input end of the database; The data application system includes an operation resource layer, a data storage layer, a data access layer, a business logic layer and a front-end display layer. The output end of the operation resource layer is connected to the input end of the data storage layer, the output end of the data storage layer is bidirectionally connected to the input end of the data access layer, the output end of the data access layer is bidirectionally connected to the input end of the business logic layer, and the output end of the business logic layer is bidirectionally connected to the input end of the front-end display layer.

2. The cableway support deformation automatic monitoring system according to claim 1, characterized in that: The accelerometer, inclinometer and meteorological instrument are directly connected to the Internet via DTU, and the observation files of the GNSS reference station and the GNSS mobile station are respectively transmitted to the cloud server in real time via TCP / IP and FTP transmission protocols.

3. The automatic monitoring system for cableway support deformation according to claim 1, characterized in that: The GNSS base station and the GNSS mobile station use the SP90M GNSS receiver of Trimble Corporation.

4. The cableway support deformation automatic monitoring system according to claim 1, characterized in that: The accelerometer uses the T3E micro-electromechanical system three-axis acceleration sensor produced by Beijing Tuoce Technology Co., Ltd., the inclinometer uses the AT203 two-axis tilt sensor, and the meteorological instrument uses the ZK-CS ultrasonic integrated meteorological instrument produced by Zhongke Zhengqi Technology Co., Ltd.

5. The cableway support deformation automatic monitoring system according to claim 1, characterized in that: The operating resource layer is Alibaba Cloud server.

6. The cableway support deformation automatic monitoring system according to claim 1, characterized in that: The data storage layer is a MySQL database.

7. The cableway support deformation automatic monitoring system according to claim 1, characterized in that: The data access layer includes user management data access, multi-sensor data access, and analysis and evaluation data access.

8. The cableway support deformation automatic monitoring system according to claim 1, characterized in that: The business logic layer includes user login information management, data query processing business and real-time analysis, evaluation and early warning, and the real-time analysis, evaluation and early warning includes real-time coordinate solution, deformation monitoring and evaluation, center linearity solution, horizontal torsion evaluation and vertical inclination evaluation.

9. The cableway support deformation automatic monitoring system according to claim 1, characterized in that: The front-end display layer includes access devices and front-end architecture. The access devices include PC and large screen. The front-end structure includes HTML5, JS / CSS, Element, Vue.js, Echarts and Axios.

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