System and method for synchronously monitoring suspended grouting bridge fabrication machine based on Internet of Things Beidou total station

Abstract

The invention discloses a system and a method for synchronously monitoring a suspended grouting bridge fabrication machine based on a Beidou total station of the Internet of Things, which are based on effective application of new technologies such as a Beidou positioning technology, a total station measurement technology and an Internet of Things technology, and further functions of an original field bus technology and a safety monitoring technology are excavated and jointly integrated into a complete safety monitoring system. Compared with a traditional equipment safety monitoring system, the system has more powerful functions, particularly on high-precision three-dimensional positioning of equipment, the positioning precision that the three-dimensional positioning of the equipment reaches the centimeter level in a normal state and reaches the millimeter level in a short time can be achieved, the distance synchronization requirement of the special working condition of double-machine operation of the suspended grouting bridge fabrication machine can be directly met, and the system is suitable for large-scale popularization and application. And continuous monitoring can be provided for the full-period vertical and horizontal offset of equipment bridge body construction, and a practical guarantee is provided for the operation safety of the novel cantilever pouring equipment, namely the cantilever pouring bridge fabrication machine.

Description

Technical Field

[0001] The present invention relates to the field of bridge construction safety monitoring, and in particular to a synchronous monitoring system and method for a suspended concrete bridge-building machine based on an Internet of Things Beidou total station. Background Art

[0002] Cantilever pouring construction, due to its construction environment and working conditions, will cause serious casualties and huge economic losses if an accident occurs. The new generation of suspended pouring bridge-building machines has been widely put into the market with its safer, faster, more precise and more durable characteristics, gradually replacing traditional hanging basket equipment and becoming the new generation of main force in the field of bridge construction equipment. However, with the upgrade of cantilever pouring construction equipment, further monitoring of the operation safety of mechanical equipment is an important measure to ensure its stable, long-term and high-performance operation. In recent years, with the expansion of the scale and types of data required for safety monitoring of equipment, the increase in sampling frequency and the extension of sampling time, the volume of monitoring data that needs to be collected, processed and analyzed is larger. In addition, when the difference in the synchronous construction distance of the two suspended pouring bridge-building machines is too large, there will be a serious safety risk of uneven force on the bridge body and easy to overturn. At the same time, the existing safety monitoring system cannot meet the safety operation monitoring requirements of the suspended pouring bridge-building machine, and the synchronous operation distance monitoring function of the two bridge-building machines is not fully realized. The monitoring of the vertical and horizontal offset of the equipment bridge body during the whole construction cycle has the disadvantages of long intervals, short time series and no cloud monitoring.

[0003] In view of the particularity of the working conditions and functions of the cantilevered bridge-building machine, its safety monitoring system directly affects the safety of the cantilevered bridge casting construction, and also indirectly affects the efficiency of the cantilevered bridge casting construction.

[0004] Therefore, how to provide a safety monitoring system and method to improve the operational safety, continuous monitoring, and control intelligence of equipment is a technical problem that needs to be solved urgently. Summary of the invention

[0005] In order to address the deficiencies in the prior art, the present invention provides a synchronous monitoring system and method for a suspended grouting bridge-building machine based on the Internet of Things Beidou total station. For a double-suspended grouting bridge-building machine, effective application of new technologies such as Beidou positioning technology, total station measurement technology, and Internet of Things technology can provide continuous monitoring of the vertical and horizontal offsets of the equipment's bridge body throughout the construction cycle, thereby providing practical protection for the operating safety of the new cantilever casting equipment, the suspended grouting bridge-building machine.

[0006] The embodiment of the present invention provides the following solution:

[0007] In the first aspect, an embodiment of the present invention provides a synchronous monitoring system for a suspended concrete bridge-building machine based on the Internet of Things and a Beidou total station, which is used to control two suspended concrete bridge-building machines of the same model, including: a monitoring unit system, a local monitoring system and a remote monitoring system, wherein:

[0008] The monitoring unit system includes Beidou positioning unit, sensor and signal monitoring unit, total station measurement unit and personnel identification unit;

[0009] The local monitoring system includes a data acquisition unit and an integrated computing configuration control unit. The data acquisition unit uses an Internet of Things cloud server for receiving data sent by the monitoring unit system. The integrated computing configuration control unit includes a control processor that communicates with the Internet of Things cloud server.

[0010] The remote monitoring system includes an IoT cloud platform unit that communicates with the monitoring unit system.

[0011] In an optional embodiment, the Beidou positioning unit includes 2 sets of Beidou positioning unit equipment stations, 1 set of Beidou positioning unit base station, and a Beidou positioning cloud server that communicates with the Beidou positioning unit equipment station and the base station. The total station measurement unit includes 2 sets of total station prism poles and 1 set of total station instrument poles. One set of Beidou positioning unit equipment station and one set of total station prism poles are installed at the centerline position of the saddle beam of each suspended grouting bridge construction machine, and one set of Beidou positioning unit base station and one set of total station instrument poles are installed at the centerline position of the pier.

[0012] In an optional embodiment, the sensor and signal detection unit includes a pressure sensor, a distance sensor, a temperature sensor, a humidity sensor, a stress sensor, a tilt sensor and a wind speed sensor.

[0013] In an optional embodiment, the pressure sensor is installed on the boom monitoring point of each suspended grouting bridge-building machine, the distance sensor is installed on the monitoring points of the transverse cylinder, longitudinal cylinder and anti-top support cylinder of each suspended grouting bridge-building machine, the stress sensor is installed on the mechanical structure stress point of each suspended grouting bridge-building machine, the inclination sensor is installed on the horizontal plane of the saddle beam of each suspended grouting bridge-building machine, and the temperature sensor, humidity sensor and wind speed sensor are installed on at least one suspended grouting bridge-building machine.

[0014] In an optional embodiment, the personnel identification unit is installed at the equipment registration threshold of the suspended concrete bridge-building machine and is communicatively connected to the data acquisition unit via a field bus and / or 4G wireless communication.

[0015] In an optional embodiment, the Internet of Things cloud platform unit includes a data list module for displaying and storing Internet of Things cloud server data, a cloud platform configuration module for displaying data cloud platform configuration, and an intelligent analysis component for data analysis and monitoring.

[0016] In the second aspect, the embodiment of the present invention further provides a synchronous monitoring method of a suspended concrete bridge-building machine based on the aforementioned Internet of Things and Beidou total station, including the following four operation processes:

[0017] Mode 1: When two suspended concrete bridge-building machines are performing lateral movement operations and the total station measurement unit has not enabled the total station precise positioning, the control processor controls the Beidou positioning unit to enable the synchronous high-performance operation mode through the IoT cloud server. The Beidou positioning equipment station and the Beidou positioning base station select the differential data carrier phase processing mode, and upload the differential data of the Beidou positioning base station to the Beidou positioning cloud server. The Beidou positioning equipment station calculates and obtains the positioning information based on the satellite positioning signal and the base station differential data; the control processor calculates the distance synchronization matching value, the equipment horizontal offset and the equipment vertical offset based on the positioning information;

[0018] Mode 2: When two suspended grouting bridge construction machines are performing pouring, vibrating and maintenance operations and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit through the IoT cloud server to enable the synchronous low-performance operation mode. Each Beidou positioning equipment station and Beidou positioning base station selects the pseudo-range measurement method and uploads the pseudo-range data to the Beidou positioning cloud server. The Beidou positioning equipment station calculates and obtains positioning information based on the satellite positioning signal and pseudo-range data. The control processor calculates the distance synchronization matching value, the equipment horizontal offset and the equipment vertical offset based on the positioning information.

[0019] Mode 3: When the two suspended concrete bridge-building machines are not operating and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit to start the no-operation sleep mode through the IoT cloud server, and the Beidou positioning unit stops working to save system resources;

[0020] Mode 4: When the total station precise positioning is enabled, the control processor controls the Beidou positioning unit through the IoT cloud server to enable the synchronous high-performance operation mode, starts the total station measurement unit to measure two suspended concrete bridge-building machines to obtain the total station measurement data, and the control processor simultaneously receives the Beidou positioning unit measurement data and the total station measurement data to obtain the positioning information. The control processor calculates the distance synchronization matching value, the horizontal offset of the equipment, and the vertical offset of the equipment based on the positioning information.

[0021] In an optional embodiment, when the distance synchronization matching value is <= 80% of the preset distance matching value, the control processor outputs a warning message; when the distance synchronization matching value is <= 0, the control processor outputs an alarm message and suspends the operation of two suspended cast-in-place bridge-building machines; when the horizontal offset of the equipment is >= 80% of the preset horizontal offset, the control processor outputs a warning message; when the horizontal offset of the equipment is >= 100% of the preset horizontal offset, the control processor outputs an alarm message and suspends the operation of the two suspended cast-in-place bridge-building machines; when the vertical offset of the equipment is >= 80% of the preset vertical offset, the control processor outputs a warning message; when the vertical offset of the equipment is >= 100% of the preset vertical offset, the control processor outputs an alarm message and suspends the operation of the two suspended cast-in-place bridge-building machines.

[0022] In an optional embodiment, during the operation of each mode, the pressure sensor of the sensor and signal detection unit measures the boom pressure, the distance sensor measures the saddle beam cylinder distance, the counter-support cylinder distance and the longitudinal movement cylinder distance, the stress sensor measures the mechanical structure stress, the inclination sensor measures the X-axis inclination and the Y-axis inclination, the temperature sensor measures the ambient temperature, the humidity sensor measures the ambient humidity, and the anemometer measures the ambient wind speed; when any data measured by the sensor and signal detection unit exceeds 90% of the set threshold, the control processor outputs a corresponding data warning signal, and when any data measured by the sensor and signal detection unit exceeds 100% of the set threshold, the control processor outputs an alarm message and suspends the operation of two suspended concrete bridge-building machines.

[0023] If the forced working mode is activated, the operation of the two suspended concrete bridge-building machines will not be suspended.

[0024] The beneficial effects of the present invention based on its technical solution are:

[0025] (1) The present invention is based on the effective application of new technologies such as Beidou positioning technology, total station measurement technology, and Internet of Things technology, and further explores the functions of the original fieldbus technology and safety monitoring technology to integrate a complete safety monitoring system. The present invention has more powerful functions than the traditional equipment safety monitoring system, especially in the high-precision three-dimensional positioning of the equipment. It can achieve the three-dimensional positioning accuracy of the equipment to the centimeter level in normal state and the millimeter level in short time. It can directly meet the distance synchronization requirements of the special working condition of the dual-machine operation of the suspended grouting bridge-building machine, and can also provide continuous monitoring of the vertical and horizontal offsets of the equipment bridge body throughout the construction cycle, providing practical protection for the operation safety of the new cantilever casting equipment of the suspended grouting bridge-building machine, which is highly targeted.

[0026] (2) The present invention can meet the requirements of multi-condition and all-weather use. It adopts multiple methods for different working conditions when positioning the equipment and introduces environmental factors as calculation parameters, which effectively guarantees the accuracy of the positioning and measurement functions. At the same time, the rich and diverse sensor groups can effectively monitor the equipment operation posture and equipment status under the influence of complex environments, which comprehensively improves the adaptability to equipment safety monitoring.

[0027] (3) The present invention applies the Internet of Things technology to enable the local human-computer interaction and remote cloud platform dual-interface data to be displayed in real time, synchronously and stably. The system allows front-line construction workers, front-line supervisors, managers, and more project stakeholders to understand the professional data of front-line construction equipment in real time; through data configuration, non-professionals can also intuitively understand the equipment operation status, and through data configuration, professionals can realize long-term visual analysis of the equipment. At the same time, the present invention also provides an effective basis for equipment operation and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A structural schematic diagram of a synchronous monitoring system for a suspended concrete bridge-building machine based on the Internet of Things Beidou total station provided by the present invention.

[0030] Figure 2 This is the main view of the bridge deck showing the layout of each unit.

[0031] Figure 3 It is a schematic diagram of the front view of the equipment showing the layout of each unit.

[0032] Figure 4 The following is a schematic diagram of the rear view of the equipment showing the layout of each unit.

[0033] Figure 5 It is a schematic diagram of the measurement principle.

[0034] Among them: 1-No. 1 machine, 2-No. 2 machine, AA-Beidou positioning unit, A1-Beidou positioning unit equipment station No. 1, A2-Beidou positioning unit equipment station No. 2, A3-Bridge pier Beidou positioning unit base station, A4-first pressure sensor group, A5-first stress sensor group, A6-first distance sensor, A7-first inclination sensor, A8-second pressure sensor group, A9-second stress sensor group, A10-second distance sensor, A11-second inclination sensor, A12-temperature sensor, A13-humidity sensor, A14-anemometer, A15-bridge pier full station type electronic speed measurement Instrument, A16-1 device prism, A17-2 device prism, A18-1 device identification, A19-2 device identification, AB-sensor and signal monitoring unit, AC-total station measurement unit, AD-personnel identification unit, BA-data acquisition unit, BB-integrated computing configuration control unit, B1-first Internet of Things IOT module, B2-second Internet of Things IOT module, B3-third Internet of Things IOT module, B4-first device bus data receiving module, B5-second device bus data receiving module, B6-fourth Internet of Things IOT module, CA-Internet of Things cloud platform unit, DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention 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. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.

[0036] The embodiment of the present invention provides the following solution:

[0037] Reference Figures 1 to 4 The embodiment of the present invention provides a synchronous monitoring system for a suspended cast-in-place bridge-building machine based on the Internet of Things and Beidou total station, which is used to control two suspended cast-in-place bridge-building machines of the same model, namely machine No. 1 and machine No. 2. The mechanical structure of each suspended cast-in-place bridge-building machine includes a saddle beam, a front hanging beam, a side beam, a front and rear hanging point system, an outer wing mold, an inner template system, a bottom template system and a working platform. The system includes: a monitoring unit system, a local monitoring system and a remote monitoring system. Among them:

[0038] The monitoring unit system includes Beidou positioning unit AA, sensor and signal monitoring unit AB, total station measurement unit AC, and personnel identification unit AD.

[0039] The local monitoring system includes a data acquisition unit and an integrated computing configuration control unit. The data acquisition unit uses an Internet of Things cloud server for receiving data sent by the monitoring unit system. The integrated computing configuration control unit includes a control processor that communicates with the Internet of Things cloud server.

[0040] The remote monitoring system includes an IoT cloud platform unit that communicates with the monitoring unit system.

[0041] Beidou positioning unit AA includes Beidou positioning unit equipment station A1 No. 1 and Beidou positioning unit equipment station A2 No. 2, both of which are installed on the central axis of the saddle beam of the equipment. The dedicated LORA communication module receives the differential or pseudo-range positioning data of the base station in the Beidou positioning cloud server, and the Beidou positioning dedicated module receives the equipment station positioning differential or pseudo-range data. The data are sent to the Beidou positioning processor for data processing, and the processing results are forwarded to the IOT module of the equipment. The Beidou positioning unit base station A3 of the bridge pier is installed at the central axis of the bridge pier. The Beidou positioning dedicated module receives the base station positioning differential or pseudo-range data and sends it to the Beidou positioning processor for data processing. The processor uploads the processing results to the cloud server through the LORA communication module and forwards them to the bridge pier IOT module.

[0042] The sensor and signal monitoring unit AB includes various sensors, among which the first pressure sensor group A4 and the second pressure sensor group A8 are used to measure the pressures F1 to F1 of each boom of the dual machines. 24 The first stress sensor group A5 and the second stress sensor group A9 are used to measure the stress F of each important mechanical part of the dual machine25 ~F 40 The first distance sensor A6 and the second distance sensor A10 are used to measure the distances C1 to C8 between the saddle beam cylinders and C9 to C8 between the counter-support cylinders. 16 , Distance C of each longitudinal cylinder 17 ~C 20 The first inclination sensor A7 and the second inclination sensor A11 are used to measure the inclination angles Q1 to Q8 of the X-axis and Q9 to Q8 of the Y-axis of the equipment. 16 , each installation position is as follows Figures 2 to 4 The temperature sensor A12 is used to measure the ambient temperature WD, the humidity sensor A13 is used to measure the ambient humidity SD, and the anemometer A14 is used to measure the ambient wind speed FS, which are installed at the horizontal position of the saddle beam shown in the No. 1 machine.

[0043] The total station measurement unit AC includes the bridge pier total station type electronic speed meter A15, which is installed at the central axis position shown on the bridge pier and is flush with the Beidou positioning base station. When the total station is enabled for precise positioning, the positioning data of the No. 1 and No. 2 machines can be measured in turn through the No. 1 device prism A16 and the No. 2 device prism A17, and the data calculation is completed, and the data and calculation results are forwarded to the bridge pier IOT module. The personnel identification unit AD detects the identity information of the personnel entering the construction site, and plays a role in controlling the personnel entering and exiting the equipment construction area. The database data is interconnected with the IoT cloud server through the output module. The No. 1 device identification A18 and the No. 2 device identification A19 are installed at the boarding threshold position.

[0044] The local monitoring system includes a data acquisition unit BA and an integrated computing configuration control unit BB; the data acquisition unit BA includes a first device bus data receiving module B4 and a second device bus data receiving module B5, which are installed on the horizontal platform of the corresponding device saddle beam, and are used to collect sensor data and forward the data to the same device device Internet of Things IOT module, including a first Internet of Things IOT module B1, a second Internet of Things IOT module B2, a third Internet of Things IOT module B3, and a fourth Internet of Things IOT module B6. The first Internet of Things IOT module B1 and the second Internet of Things IOT module B2 are installed on the corresponding No. 1 or No. 2 device saddle beam. In the electrical cabinet, it is used to receive data corresponding to Beidou positioning unit equipment station No. 1 A1, Beidou positioning unit equipment station No. 2 A2 and the first device bus data receiving module B4, the second device bus data receiving module B5. The third Internet of Things IOT module B3 is installed in the pier electrical cabinet, which is used to receive the data of the pier Beidou positioning unit base station A3 and the pier full-station electronic speed meter A15. The above IOT modules all forward and upload the data to the Internet of Things cloud server; the fourth Internet of Things IOT module collects the output data of the integrated computing configuration control unit BB, receives the data from the Internet of Things cloud server and forwards it to the input module of the integrated computing configuration control unit BB.

[0045] The remote monitoring system adopts the IoT cloud platform unit CA, including a data list module, a cloud platform configuration module, an intelligent analysis component, and a data list module, which are used to display and store IoT cloud server data. The configuration data interface completes the data cloud platform configuration display, and through the intelligent analysis component, completes multi-faceted and full-cycle data analysis and monitoring of equipment operations.

[0046] The embodiment of the present invention also provides a method for synchronously monitoring a suspended concrete bridge-building machine based on the aforementioned system based on the Internet of Things and Beidou total station, referring to Figure 5 , including the following 4 modes of operation:

[0047] Mode 1: When two suspended concrete bridge-building machines are performing lateral movement operations and the total station measurement unit has not enabled the total station precise positioning, the control processor controls the Beidou positioning unit through the IoT cloud server to enable the synchronous high-performance operation mode. The Beidou positioning device station and the Beidou positioning base station select the differential data carrier phase processing mode, and upload the differential data of the Beidou positioning base station to the Beidou positioning cloud server. The Beidou positioning device station calculates and obtains the positioning information based on the satellite positioning signal and the base station differential data; the control processor calculates the distance synchronization matching value, the equipment horizontal offset and the equipment vertical offset based on the positioning information.

[0048] Mode, d 卫差分 =N 相位周期 ×λ 波长 +λ 波长 ×a 尾段 , d 卫差分 Indicates the accurate differential distance between each Beidou satellite and the device station or base station, N 相位周期 Represents the number of cycles of a complete radio signal sine wave sent by a device station or a base station, λ 波长 Indicates the wavelength of the sine wave sent by the device station or the base station, a 尾段 Indicates the specific phase of the tail wave obtained based on the carrier phase measurement. The Beidou positioning processor calculates the differential coordinates (X 差 , Y 差 , Z 差 ).

[0049] Calculate the equipment base data for each device Where D 卫水平距 This is the actual horizontal operating distance measured by the Beidou satellite positioning technology of the equipment.

[0050] I 垂直偏 =Z 差 -H 北设 -H 梁 -M 垂直标 , I 垂直偏is the actual horizontal deviation value measured by Beidou satellite positioning technology, H 北设 H is the height of the Beidou positioning unit equipment station from the equipment saddle beam, 梁 M is the height of the saddle beam of the equipment from the working surface. 垂直标 It is the theoretical standard vertical offset value of the current device position.

[0051] I 水平偏 =Y 差 -M 水平标 , I 水平偏 is the actual horizontal deviation value measured by Beidou satellite positioning technology, M 水平标 It is the theoretical standard horizontal offset value of the current device position.

[0052] Distance synchronization matching value XC = JK-|D 卫水平距1 -D 卫水平距2 |, where the distance synchronization matching value XC is used to determine whether the construction distance difference between equipment No. 1 and equipment No. 2 is too large, JK is the preset distance matching limit, and the data value can be adjusted according to the actual working conditions to set the distance difference limit, D 卫水平距1 D for device No. 1 卫水平距 , D 卫水平距2 D of device No. 2 卫水平距 .

[0053] Among them, SP1 is the horizontal offset of device No. 1, SP2 is the horizontal offset of device No. 2, which is used to judge whether the horizontal offset of device No. 1 or device No. 2 is too large, JY is the horizontal offset limit, which is used to determine the horizontal offset limit parameter of the device at this position, I 水平偏1 I for device No. 1 水平偏 , I 水平偏2 I for device No. 2 水平偏 .

[0054] Among them, CZ1 is the vertical offset of device No. 1, and CZ2 is the vertical offset of device No. 2, which is used to determine whether the horizontal offset of device No. 1 or device No. 2 is too large. When any CZ value is greater than or equal to 80%, the control processor will output a warning message. JZ is the vertical offset limit, which is used to determine the vertical offset limit parameter of the device at this position. 垂直偏1 I for device No. 1 垂直偏 , I 垂直偏2 I for device No. 2 垂直偏 .

[0055] Mode 2: When two suspended grouting bridge-building machines are performing pouring, vibrating and maintenance operations and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit through the IoT cloud server to enable the synchronous low-performance operation mode. Each Beidou positioning equipment station and Beidou positioning base station select the pseudo-range measurement method and upload the pseudo-range data to the Beidou positioning cloud server. The Beidou positioning equipment station calculates and obtains the positioning information based on the satellite positioning signal and pseudo-range data. The control processor calculates the distance synchronization matching value XC, the equipment horizontal offset value SP and the equipment vertical offset value CZ based on the positioning information.

[0056] In mode 2, d 卫伪距 =c 光 ×(t 收 -t 发 ), d 卫伪距 represents the estimated pseudo-range distance between each BeiDou satellite and the device station or reference station, c 光 represents the speed of light, t 收 Indicates the time when the device station or base station receives the signal, t 发 Indicates the time when the device station or base station sends a signal. The Beidou positioning processor calculates the pseudo-range coordinates (X 伪 , Y 伪 , Z 伪 ).

[0057] Calculate each device based on the basic data of the device:

[0058]

[0059] I 垂直偏 =Z 伪 -H 北设 -H 梁 -M 垂直标 .

[0060] I 水平偏 =Y 伪 -M 水平标 .

[0061] XC=JK-|D 卫水平距1 -D 卫水平距2 |.

[0062]

[0063] Mode 3: When the two suspended concrete bridge-building machines are not operating and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit to start the no-operation sleep mode through the IoT cloud server, and the Beidou positioning unit stops working to save system resources;

[0064] Mode 4: When the total station precise positioning is enabled, the control processor controls the Beidou positioning unit through the IoT cloud server to enable the synchronous high-performance operation mode, starts the total station measurement unit to measure two suspended concrete bridge-building machines to obtain the total station measurement data, and the control processor receives the Beidou positioning unit measurement data and the total station measurement data at the same time. The control processor calculates the distance synchronization matching value, the horizontal offset of the equipment, and the vertical offset of the equipment based on the positioning information.

[0065] Mode 4, XC = JK-|[O×D 卫水平距1 +(1-O)×D 全水平距1 ]-[O×D 卫水平距2 +(1-O)×D 全水平距2 ]|, where O is the environmental factor coefficient, which is used to configure the ratio of Beidou positioning measurement data to total station positioning measurement data. It is related to the atmospheric environment, working environment, air temperature and humidity, and climate, and is input by the control processor. 全水平距1 is the horizontal distance measured by the total station of equipment No. 1, D 全水平距2 The horizontal distance measured by the total station of equipment No. 2.

[0066]

[0067] H of device No. 1 水平偏 , H 水平偏2 H of device No. 2 水平偏 .

[0068]

[0069] H of device No. 1 垂直偏 , H 垂直偏2 H of device No. 2 垂直偏 .

[0070] Measurement of horizontal distance, device vertical offset, and device horizontal offset Figure 5 As shown:

[0071] H 高程 =H5-H4, H4=H 棱 +H 梁 , H5=H3+H 垂直角 , H3=H 地 +H 全 ,

[0072] H 垂直角 =D 全水平距 ×tanα 垂直角 , H 水平角 =D 全水平距 ×sinβ 水平角 , H 水平偏 =D 全水平距 ×sinβ 水平角-M 水平标 , H 垂直偏 =H 高程 -H 地 -M 垂直标 .

[0073] D 全水平距 is the horizontal distance of a single device measured by the total station, α 垂直角 To observe the vertical angle, β 水平角 is the observation horizontal angle, H 垂直角 H is the vertical height of the prism relative to the total station observation mirror, 地 H is the height of the total station tripod from the ground. 全 H is the height of the center point of the total station observation mirror from the support surface, 棱 H is the height of the center point of the prism of the total station prism stand from the saddle beam of the equipment, 梁 H is the height of the equipment saddle beam from the equipment horizontal working surface. 高程 H is the height from the ground to the working level of the equipment. 水平偏 is the equipment horizontal offset calculated based on the total station measurement data, H 垂直偏 It is the vertical offset of the equipment calculated based on the measurement data of the total station.

[0074] When the distance synchronization matching value is <= 80% of the preset distance matching value, the control processor outputs a warning message; when the distance synchronization matching value is <= 0, the control processor outputs an alarm message and suspends the operation of the two suspended cast-in-place bridge-building machines; when the horizontal offset of the equipment is >= 80% of the preset horizontal offset, the control processor outputs a warning message; when the horizontal offset of the equipment is >= 100% of the preset horizontal offset, the control processor outputs an alarm message and suspends the operation of the two suspended cast-in-place bridge-building machines; when the vertical offset of the equipment is >= 80% of the preset vertical offset, the control processor outputs a warning message; when the vertical offset of the equipment is >= 100% of the preset vertical offset, the control processor outputs an alarm message and suspends the operation of the two suspended cast-in-place bridge-building machines.

[0075] In this embodiment, when the XC value is <= 80% of the JK value or any SP value is >= 80% or any CZ value is >= 80% or any sensor data (F, C, Q, WD, SD, FS) is >= the set limit value, the control processor will output a warning message; when the XC value is <= 0 or any SP value is >= 100% or any CZ value is >= 100% or any sensor data (F, C, Q, WD, SD, FS) is >= the set limit value, the control processor will output an alarm message and suspend the corresponding device action; when the device is in forced working mode, the above alarm outputs will not stop but the device action can be executed.

[0076] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (modules, systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0078] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0079] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0080] Although the preferred embodiments of the present invention have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0081] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A synchronous monitoring system for suspended concrete bridge-building machines based on the Internet of Things and Beidou total station, used to control two suspended concrete bridge-building machines of the same model, characterized in that include: Monitoring unit system, local monitoring system and remote monitoring system, including: The monitoring unit system includes Beidou positioning unit, sensor and signal monitoring unit, total station measurement unit and personnel identification unit; The local monitoring system includes a data acquisition unit and an integrated computing configuration control unit. The data acquisition unit uses an Internet of Things cloud server for receiving data sent by the monitoring unit system. The integrated computing configuration control unit includes a control processor that communicates with the Internet of Things cloud server. The remote monitoring system includes an IoT cloud platform unit that communicates with the monitoring unit system.

2. The synchronous monitoring system for suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 1 is characterized in that: The Beidou positioning unit includes 2 sets of Beidou positioning unit equipment stations, 1 set of Beidou positioning unit base station, and a Beidou positioning cloud server that communicates with the Beidou positioning unit equipment station and the base station. The total station measurement unit includes 2 sets of total station prism poles and 1 set of total station instrument poles. One set of Beidou positioning unit equipment station and one set of total station prism poles are installed at the centerline position of the saddle beam of each suspended grouting bridge construction machine, and one set of Beidou positioning unit base station and one set of total station instrument poles are installed at the centerline position of the pier.

3. The synchronous monitoring system for suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 1 is characterized in that: The sensor and signal detection unit includes a pressure sensor, a distance sensor, a temperature sensor, a humidity sensor, a stress sensor, a tilt sensor and a wind speed sensor.

4. The synchronous monitoring system for suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 3 is characterized in that: The pressure sensor is installed on the boom monitoring point of each suspended grouting bridge-building machine, the distance sensor is installed on the monitoring points of the transverse cylinder, longitudinal cylinder and anti-top support cylinder of each suspended grouting bridge-building machine, the stress sensor is installed on the mechanical structure stress point of each suspended grouting bridge-building machine, the inclination sensor is installed on the horizontal plane of the saddle beam of each suspended grouting bridge-building machine, and the temperature sensor, humidity sensor and wind speed sensor are installed on at least one suspended grouting bridge-building machine.

5. The synchronous monitoring system for suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 1 is characterized in that: The personnel identification unit is installed at the equipment registration threshold of the suspended concrete bridge-building machine and is connected to the data acquisition unit through a field bus and / or 4G wireless communication method.

6. The synchronous monitoring system for suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 1 is characterized in that: The Internet of Things cloud platform unit includes a data list module for displaying and storing Internet of Things cloud server data, a cloud platform configuration module for displaying data cloud platform configuration, and an intelligent analysis component for data analysis and monitoring.

7. A synchronous monitoring method for a suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 1, characterized in that: It includes the following 4 modes of operation: Mode 1: When two suspended concrete bridge-building machines are performing lateral movement operations and the total station measurement unit has not enabled the total station precise positioning, the control processor controls the Beidou positioning unit to enable the synchronous high-performance operation mode through the IoT cloud server. The Beidou positioning equipment station and the Beidou positioning base station select the differential data carrier phase processing mode, and upload the differential data of the Beidou positioning base station to the Beidou positioning cloud server. The Beidou positioning equipment station calculates and obtains the positioning information based on the satellite positioning signal and the base station differential data; the control processor calculates the distance synchronization matching value, the equipment horizontal offset and the equipment vertical offset based on the positioning information; Mode 2: When two suspended grouting bridge construction machines are performing pouring, vibrating and maintenance operations and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit through the IoT cloud server to enable the synchronous low-performance operation mode. Each Beidou positioning equipment station and Beidou positioning base station selects the pseudo-range measurement method and uploads the pseudo-range data to the Beidou positioning cloud server. The Beidou positioning equipment station calculates and obtains positioning information based on the satellite positioning signal and pseudo-range data. The control processor calculates the distance synchronization matching value, the equipment horizontal offset and the equipment vertical offset based on the positioning information. Mode 3: When the two suspended concrete bridge-building machines are not operating and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit to start the no-operation sleep mode through the IoT cloud server, and the Beidou positioning unit stops working to save system resources; Mode 4: When the total station precise positioning is enabled, the control processor controls the Beidou positioning unit through the IoT cloud server to enable the synchronous high-performance operation mode, starts the total station measurement unit to measure two suspended concrete bridge-building machines to obtain the total station measurement data, and the control processor simultaneously receives the Beidou positioning unit measurement data and the total station measurement data to obtain the positioning information. The control processor calculates the distance synchronization matching value, the horizontal offset of the equipment, and the vertical offset of the equipment based on the positioning information.

8. The synchronous monitoring method of the suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 7 is characterized in that: When the distance synchronization matching value is <= 80% of the preset distance matching value, the control processor outputs a warning message; when the distance synchronization matching value is <= 0, the control processor outputs an alarm message and suspends the operation of the two suspended cast-in-place bridge-building machines; when the horizontal offset of the equipment is >= 80% of the preset horizontal offset, the control processor outputs a warning message; when the horizontal offset of the equipment is >= 100% of the preset horizontal offset, the control processor outputs an alarm message and suspends the operation of the two suspended cast-in-place bridge-building machines; when the vertical offset of the equipment is >= 80% of the preset vertical offset, the control processor outputs a warning message; when the vertical offset of the equipment is >= 100% of the preset vertical offset, the control processor outputs an alarm message and suspends the operation of the two suspended cast-in-place bridge-building machines.

9. The synchronous monitoring method of suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 7 is characterized in that: During the working process of each mode, the pressure sensor of the sensor and signal detection unit measures the boom pressure, the distance sensor measures the saddle beam cylinder distance, the counter-support cylinder distance and the longitudinal movement cylinder distance, the stress sensor measures the mechanical structure stress, the inclination sensor measures the X-axis inclination and the Y-axis inclination, the temperature sensor measures the ambient temperature, the humidity sensor measures the ambient humidity, and the anemometer measures the ambient wind speed; when any data measured by the sensor and signal detection unit exceeds 90% of the set threshold, the control processor outputs the corresponding data warning signal, and when any data measured by the sensor and signal detection unit exceeds 100% of the set threshold, the control processor outputs an alarm message and suspends the operation of the two suspended concrete bridge-building machines.

10. The synchronous monitoring method of suspended concrete bridge-building machine based on the Internet of Things and Beidou total station according to claim 8 or 9, characterized in that: If the forced working mode is activated, the operation of the two suspended concrete bridge-building machines will not be suspended.

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