Synchronous Monitoring System and Method for Suspension-Irrigation Bridge Construction Machine Based on IoT-based BeiDou Total Station

Abstract

This invention discloses a synchronous monitoring system and method for a cantilever bridge-building machine based on the Internet of Things (IoT) and a BeiDou total station. By effectively applying new technologies such as BeiDou positioning, total station measurement, and IoT, it integrates existing fieldbus technology and safety monitoring technology to create a complete safety monitoring system. This invention offers more powerful functions than traditional equipment safety monitoring systems, particularly in high-precision three-dimensional positioning. It achieves centimeter-level positioning accuracy under normal conditions and millimeter-level accuracy for short-term applications. This directly meets the distance synchronization requirements of dual-machine operation in cantilever bridge-building machines and provides continuous monitoring of vertical and horizontal offsets throughout the bridge construction cycle, ensuring the operational safety of this new type of cantilever bridge-building equipment.

Description

Technical Field

[0001] This invention relates to the field of bridge construction safety monitoring, and in particular to a synchronous monitoring system and method for suspension bridge construction machines based on an Internet of Things (IoT) Beidou total station. Background Art

[0002] Due to the unique construction environment and working conditions, cantilever construction is highly susceptible to accidents that can result in serious casualties and substantial economic losses. New-generation cantilever bridge-building machines, with their enhanced safety, speed, precision, and durability, have been widely adopted in the market, gradually replacing traditional hanging basket equipment and becoming the new mainstay in bridge construction equipment. However, with the upgrading of cantilever construction equipment, further monitoring of the equipment's operational safety is crucial for ensuring its stable, long-term, and high-performance operation. In recent years, the scale and types of data requiring safety monitoring have increased, along with higher sampling frequencies and longer sampling times. The volume of monitoring data to be collected, processed, and analyzed is now enormous. Furthermore, a large difference in the synchronous construction distance between two cantilever bridge-building machines can lead to uneven stress on the bridge structure, posing a serious safety risk of overturning. Simultaneously, existing safety monitoring systems cannot meet the requirements for monitoring the safe operation of cantilever bridge-building machines. Their monitoring of the synchronous operation distance between two machines is incomplete, and they suffer from drawbacks such as long intervals, short time sequences, and lack of cloud-based monitoring capabilities for monitoring the vertical and horizontal offsets of the bridge structure throughout its construction cycle.

[0003] Given the special working conditions and functions of the cantilever bridge construction machine, its safety monitoring system directly affects the safety of cantilever bridge construction and indirectly affects the efficiency of cantilever bridge construction.

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

[0005] To address the shortcomings of existing technologies, this invention provides a synchronous monitoring system and method for cantilever bridge construction machines based on the Internet of Things and Beidou total station. Targeting double cantilever bridge construction machines, this invention effectively applies new technologies such as Beidou positioning technology, total station measurement technology, and Internet of Things technology. It can provide continuous monitoring of the vertical and horizontal offsets of the equipment throughout the entire construction cycle of the bridge body, and provide a solid guarantee for the operational safety of this new type of cantilever pouring equipment.

[0006] The embodiments of the present invention provide the following solutions:

[0007] In a first aspect, embodiments of the present invention provide a synchronous monitoring system for cantilever bridge-building machines based on the Internet of Things and BeiDou total station, used to control two identical cantilever bridge-building machines, comprising: a monitoring unit system, a local monitoring system, and a remote monitoring system, wherein:

[0008] The monitoring unit system includes a BeiDou positioning unit, a sensor and signal monitoring unit, a total station measurement unit, and a 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 IoT cloud server to receive data sent by the monitoring unit system. The integrated computing configuration control unit includes a control processor that communicates with the IoT cloud server.

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

[0011] In one optional embodiment, the BeiDou positioning unit includes two sets of BeiDou positioning unit equipment stations, one set of BeiDou positioning unit reference stations, and a BeiDou positioning cloud server that communicates with the BeiDou positioning unit equipment stations and reference stations. The total station measurement unit includes two sets of total station prism rods and one set of total station instrument rods. One set of BeiDou positioning unit equipment stations and one set of total station prism rods are installed at the centerline position of the saddle beam of each cantilever bridge construction machine, and one set of BeiDou positioning unit reference stations and one set of total station instrument rods are installed at the centerline position of the bridge piers.

[0012] In one 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 one optional embodiment, the pressure sensor is installed on the boom monitoring point of each cantilever bridge construction machine, the distance sensor is installed on the monitoring points of the transverse cylinder, longitudinal cylinder and anti-top support cylinder of each cantilever bridge construction machine, the stress sensor is installed on the mechanical structure stress point of each cantilever bridge construction machine, the tilt sensor is installed on the horizontal surface of the saddle beam of each cantilever bridge construction machine, and the temperature sensor, humidity sensor and wind speed sensor are installed on at least one cantilever bridge construction machine.

[0014] In one optional embodiment, the personnel identification unit is installed on the equipment registration threshold of the cantilever bridge construction machine and is connected to the data acquisition unit via fieldbus and / or 4G wireless communication.

[0015] In one optional embodiment, the IoT cloud platform unit includes a data list module for displaying and storing IoT 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] Secondly, this invention also provides a synchronous monitoring method for suspension bridge construction machines based on the aforementioned Internet of Things and Beidou total station, including the following four operation modes:

[0017] Mode 1: When two cantilever bridge-building machines are performing lateral movement and the total station measurement unit is not using precise positioning, the control processor controls the BeiDou positioning unit to activate the synchronous high-performance operation mode via the IoT cloud server. The BeiDou positioning equipment station and the BeiDou positioning reference station select the differential data carrier phase processing mode, and upload the differential data of the BeiDou positioning reference station to the BeiDou positioning cloud server. The BeiDou positioning equipment station calculates and obtains positioning information based on the satellite positioning signal and the differential data of the reference station. 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.

[0018] Mode 2: When two cantilever bridge-building machines are performing pouring, vibration, and curing operations without using a total station for precise positioning, the control processor controls the BeiDou positioning unit to activate a synchronous low-performance operation mode via the IoT cloud server. Each BeiDou positioning equipment station and BeiDou positioning reference station selects pseudorange measurement mode and uploads pseudorange data to the BeiDou positioning cloud server. The BeiDou positioning equipment station calculates and obtains positioning information based on satellite positioning signals and pseudorange data. The control processor calculates the distance synchronization matching value, equipment horizontal offset, and equipment vertical offset based on the positioning information.

[0019] Mode 3: When neither of the two suspension bridge-building machines is in operation and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit to activate 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 total station precise positioning is enabled, the control processor controls the Beidou positioning unit to enable synchronous high-performance operation mode through the IoT cloud server, starts the total station measurement unit to measure two cantilever bridge construction machines to obtain total station measurement data, and the control processor simultaneously receives the Beidou positioning unit measurement data and the total station measurement data to obtain positioning information. The control processor calculates the distance synchronization matching value, equipment horizontal offset and equipment vertical offset based on the positioning information.

[0021] In one optional embodiment, when the distance synchronization matching value is less than or equal to 80% of the preset distance matching value, the control processor outputs a warning message; when the distance synchronization matching value is less than or equal to 0, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines; when the horizontal offset of the equipment is greater than or equal to 80% of the preset horizontal offset, the control processor outputs a warning message; when the horizontal offset of the equipment is greater than or equal to 100% of the preset horizontal offset, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines; when the vertical offset of the equipment is greater than or equal to 80% of the preset vertical offset, the control processor outputs a warning message; when the vertical offset of the equipment is greater than or equal to 100% of the preset vertical offset, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines.

[0022] In one optional embodiment, during operation in each mode, the pressure sensor of the sensor and signal detection unit measures the pressure of the boom, the distance sensor measures the distance of the saddle beam cylinder, the distance of the anti-jacking support cylinder, and the distance of the longitudinal movement cylinder, the stress sensor measures the stress of the mechanical structure, the tilt sensor measures the X-axis tilt angle and the Y-axis tilt angle, 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. 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 suspension bridge-building machines.

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

[0024] The beneficial effects of this invention based on its technical solution are as follows:

[0025] (1) Based on the effective application of new technologies such as Beidou positioning technology, total station measurement technology, and Internet of Things technology, this invention integrates the further functional exploration of existing fieldbus technology and safety monitoring technology to create a complete safety monitoring system. This invention has more powerful functions than traditional equipment safety monitoring systems, especially in high-precision three-dimensional positioning of equipment. It can achieve centimeter-level positioning accuracy under normal conditions and millimeter-level positioning accuracy in short periods. It can directly meet the distance synchronization requirements of the special working condition of dual-machine operation of the cantilever bridge construction machine, and can also provide continuous monitoring of the vertical and horizontal offset of the equipment throughout the entire construction cycle of the bridge body. It provides a solid guarantee for the operational safety of this new type of cantilever bridge construction equipment and has high specificity.

[0026] (2) This invention can meet the needs of multiple conditions and all-weather use. When positioning the equipment, it adopts multiple methods for different working conditions and introduces environmental influencing factors as calculation parameters, which effectively ensures the accuracy of the positioning measurement function. At the same time, the rich and diverse sensor group can effectively monitor the equipment's operating posture and equipment status under the influence of complex environment, and comprehensively improves the adaptability to equipment safety monitoring.

[0027] (3) This invention applies Internet of Things technology to enable real-time, synchronous and stable display of data on both local human-computer interaction and remote cloud platform. The system allows front-line construction workers, front-line supervisors, managers and more project stakeholders to understand the professional data of equipment on the construction site in real time. Through data configuration, non-professionals can also intuitively understand the equipment operation status. Through data configuration, professionals can achieve long-term visual analysis of the equipment. At the same time, this invention also provides an effective basis for equipment operation and maintenance. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This invention provides a schematic diagram of a synchronous monitoring system for a suspension bridge construction machine based on an Internet of Things (IoT) Beidou total station.

[0030] Figure 2 The main view of the bridge deck shows the arrangement of each unit.

[0031] Figure 3 A front view diagram of the equipment arrangement for each unit.

[0032] Figure 4 This is a rear view diagram of the equipment layout for each unit.

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

[0034] Among them: Unit 1-1, Unit 2-2, AA-BeiDou positioning unit, A1-BeiDou positioning unit No. 1 equipment station, A2-BeiDou positioning unit No. 2 equipment station, A3-Bridge pier BeiDou positioning unit reference station, A4-First pressure sensor group, A5-First stress sensor group, A6-First distance sensor, A7-First tilt sensor, A8-Second pressure sensor group, A9-Second stress sensor group, A10-Second distance sensor, A11-Second tilt sensor, A12-Temperature sensor, A13-Humidity sensor, A14-Anemometer, A15-Bridge pier full-station electronic speed measuring device. Instruments: A16-1 (prism), A17-2 (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 IoT module, B2-second IoT module, B3-third IoT module, B4-first device bus data receiving module, B5-second device bus data receiving module, B6-fourth IoT module, CA-IoT cloud platform unit. Detailed Implementation

[0035] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the protection scope of the embodiments of the present invention.

[0036] The embodiments of the present invention provide the following solutions:

[0037] Reference Figures 1 to 4 This invention provides a synchronous monitoring system for cantilever bridge-building machines based on the Internet of Things (IoT) and BeiDou total station. This system controls two identical cantilever bridge-building machines, designated as Machine No. 1 and Machine No. 2. Each machine's mechanical structure includes a saddle beam, front lifting beam, side beams, front and rear lifting point systems, outer wing formwork, inner formwork system, bottom formwork system, and a working platform. The system comprises a monitoring unit system, a local monitoring system, and a remote monitoring system. Wherein:

[0038] The monitoring unit system includes a Beidou positioning unit AA, a sensor and signal monitoring unit AB, a total station measurement unit AC, and a 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 IoT cloud server to receive data sent by the monitoring unit system. The integrated computing configuration control unit includes a control processor that communicates with the IoT cloud server.

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

[0041] The BeiDou positioning unit AA includes BeiDou positioning unit station 1 (A1) and BeiDou positioning unit station 2 (A2), both installed on the central axis of the saddle beam of the equipment. A dedicated LoRa communication module receives differential or pseudorange positioning data from the base station within the BeiDou positioning cloud server, while a dedicated BeiDou positioning module receives differential or pseudorange positioning data from the equipment station. All data is sent to the BeiDou positioning processor for processing, and the processing results are forwarded to the IoT module of the equipment. The bridge pier BeiDou positioning unit base station A3 is installed on the central axis of the pier. A dedicated BeiDou positioning module receives differential or pseudorange positioning data from the base station and sends it to the BeiDou positioning processor for processing. The processor uploads the processing results to the cloud server via the LoRa communication module and forwards them to the bridge pier's 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 pressure F1 to F 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 in various important mechanical parts of the dual machines.25 ~F 40 The first distance sensor A6 and the second distance sensor A10 are used to measure the distances C1 to C8 of each saddle beam cylinder and the distances C9 to C1 of each counter-support cylinder. 16 Distance C between each longitudinal hydraulic cylinder 17 ~C 20 The first tilt sensor A7 and the second tilt sensor A11 are used to measure the X-axis tilt angles Q1 to Q8 and the Y-axis tilt angles Q9 to Q8 of the equipment. 16 Each installation location is as follows Figures 2 to 4 As shown. Temperature sensor A12 is used to measure ambient temperature WD, humidity sensor A13 is used to measure ambient humidity SD, and anemometer A14 is used to measure ambient wind speed FS. They are installed on the horizontal position of the saddle beam shown in Unit 1.

[0043] The total station measurement unit AC includes a pier-type electronic velocimeter A15, installed at the centerline of the pier, level with the BeiDou positioning reference station. When precise positioning is achieved using the total station, positioning data for devices 1 and 2 can be measured sequentially via prisms A16 (device 1) and A17 (device 2), data calculations are performed, and the data and calculation results are forwarded to the pier's IoT module. The personnel identification unit AD detects the identity information of personnel entering the construction site, controlling personnel access to the equipment construction area. Database data is communicated with the IoT cloud server via the output module. Device identification units A18 (device 1) and A19 (device 2) are installed at the boarding gate positions.

[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), installed on the horizontal platform of the corresponding device's saddle beam. It is used to collect sensor data and forward the data to the IoT module of the corresponding device, including a first IoT module (B1), a second IoT module (B2), a third IoT module (B3), and a fourth IoT module (B6). The first IoT module (B1) and the second IoT module (B2) are installed on the saddle beam of the corresponding device (device number 1 or 2). Inside the electrical cabinet, data is received from the corresponding Beidou positioning unit No. 1 equipment station A1, Beidou positioning unit No. 2 equipment station A2, and the first equipment bus data receiving module B4 and the second equipment bus data receiving module B5. The third IoT module B3 is installed in the bridge pier electrical cabinet and is used to receive data from the bridge pier Beidou positioning unit reference station A3 and the bridge pier total station electronic speed measuring instrument A15. All of the above IoT modules forward and upload data to the IoT cloud server. The fourth IoT module collects the output data of the integrated computing configuration control unit BB, receives data from the IoT 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, which includes a data list module, a cloud platform configuration module, and an intelligent analysis component. The data list module is used to display and store IoT cloud server data. The configuration data interface completes the data cloud platform configuration display. Through the intelligent analysis component, it completes multi-faceted and full-cycle data analysis and monitoring of equipment operation.

[0046] This invention also provides a synchronous monitoring method for cantilever bridge construction machines based on the aforementioned system and utilizing the Internet of Things and BeiDou total station, referring to... Figure 5 The work process includes the following four modes:

[0047] Mode 1: When two cantilever bridge-building machines are performing lateral movement and the total station measurement unit is not using precise positioning, the control processor controls the BeiDou positioning unit to activate the synchronous high-performance operation mode via the IoT cloud server. The BeiDou positioning equipment station and the BeiDou positioning reference station select the differential data carrier phase processing mode, and upload the differential data of the BeiDou positioning reference station to the BeiDou positioning cloud server. The BeiDou positioning equipment station calculates and obtains positioning information based on the satellite positioning signal and the differential data of the reference station. 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.

[0048] Let's look at the pattern, d 卫差分 =N 相位周期 ×λ 波长 +λ 波长 ×a 尾段 d 卫差分 N represents the precise differential distance between each BeiDou satellite and the equipment station or reference station. 相位周期 λ represents the number of cycles of a complete sine wave of a radio signal transmitted by the equipment station or reference station. 波长 Indicates the wavelength of the sine wave transmitted by the equipment station or reference station, a 尾段 This indicates the specific phase of the tail wave obtained from carrier phase measurements. The BeiDou positioning processor calculates the differential coordinates (X, Y) of each suspension bridge-building machine relative to the reference station's plane point based on the differential principle. 差 Y 差 Z 差 ).

[0049] Calculate the data for each device based on its basic data. Where D 卫水平距 The actual horizontal operating distance of the equipment was measured using BeiDou satellite positioning technology.

[0050] I 垂直偏 =Z 差 -H 北设 -H 梁 -M 垂直标 I 垂直偏H represents the actual horizontal deviation value measured by BeiDou satellite positioning technology. 北设 H represents the height of the Beidou positioning unit equipment station above the equipment saddle beam. 梁 M is the height of the saddle beam of the equipment above the working surface. 垂直标 This represents 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 M represents the actual horizontal deviation value measured by BeiDou satellite positioning technology. 水平标 This represents the theoretical standard horizontal offset value of the current equipment 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 difference in construction distance between equipment 1 and equipment 2 is too large, JK is the preset distance matching limit, which can be adjusted according to the actual working conditions, and is used to set the distance difference limit, D 卫水平距1 For device number 1, D 卫水平距 D 卫水平距2 For device number 2, D 卫水平距 .

[0053] SP1 represents the horizontal offset of device 1, SP2 represents the horizontal offset of device 2, used to determine whether the horizontal offset of device 1 or device 2 is too large, JY represents the horizontal offset limit, used to determine the horizontal offset limit parameter of the device at this position, I 水平偏1 For device number 1, I 水平偏 I 水平偏2 For device number 2, I 水平偏 .

[0054] Where CZ1 is the vertical offset of device 1, CZ2 is the vertical offset of device 2, used to determine whether the horizontal offset of device 1 or device 2 is too large. When any CZ value is >= 80%, the control processor will output a warning message. JZ is the vertical offset limit, used to determine the vertical offset limit parameter of the device at this position. 垂直偏1 For device number 1, I 垂直偏 I 垂直偏2 For device number 2, I 垂直偏 .

[0055] Mode 2: When two cantilever bridge-building machines are performing pouring, vibration, and curing operations without using a total station for precise positioning, the control processor controls the BeiDou positioning unit to activate a synchronous low-performance operation mode via the IoT cloud server. Each BeiDou positioning equipment station and BeiDou positioning reference station selects pseudorange measurement mode and uploads pseudorange data to the BeiDou positioning cloud server. The BeiDou positioning equipment station calculates and obtains positioning information based on satellite positioning signals and pseudorange 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 two, d 卫伪距 =c 光 ×(t 收 -t 发 ), d 卫伪距 c represents the estimated pseudorange distance between each BeiDou satellite and the equipment station or reference station. 光 t represents the speed of light. 收 t represents the time at which the equipment station or reference station receives the signal. 发 This indicates the time when the device station or base station transmits a signal. Based on the differential principle, the BeiDou positioning processor calculates the pseudorange coordinates (X, Y, F) of each device relative to the plane point where the base station is located. 伪 Y 伪 Z 伪 ).

[0057] Calculate the following for each piece of equipment based on its basic data:

[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 neither of the two suspension bridge-building machines is in operation and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit to activate 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 total station precise positioning is enabled, the control processor controls the Beidou positioning unit to enable synchronous high-performance operation mode through the IoT cloud server, starts the total station measurement unit to measure two cantilever bridge construction machines to obtain total station measurement data, and the control processor simultaneously receives the Beidou positioning unit measurement data and the total station measurement data. The control processor calculates the distance synchronization matching value, equipment horizontal offset and equipment vertical offset based on the positioning information.

[0065] In mode four, 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, used to configure the ratio of BeiDou positioning measurement data to total station positioning measurement data, which is related to atmospheric environment, working environment, air temperature and humidity, and climate, and is input by the control processor, D 全水平距1 D is the horizontal distance measured by the total station of device 1. 全水平距2 The horizontal distance is measured by the total station of device number 2.

[0066]

[0067] H for device number 1 水平偏 H 水平偏2 H for device number 2 水平偏 .

[0068]

[0069] H for device number 1 垂直偏 H 垂直偏2 H for device number 2 垂直偏 .

[0070] Measurement of horizontal distance, vertical offset of equipment, and horizontal offset of equipment, as follows: 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 α is the horizontal distance of a single device measured by a total station. 垂直角 To observe the vertical angle, β 水平角 To observe the horizontal angle, H 垂直角 H is the vertical height of the prism relative to the total station's observation mirror. 地 H is the height of the total station instrument tripod from the ground. 全 H is the height of the center point of the total station's observation mirror from the support surface. 棱 H is the height H of the prism center point of the total station prism frame from the equipment saddle beam. 梁 H is the height of the saddle beam above the horizontal working surface of the equipment. 高程 H is the height of the working plane of the equipment above the ground. 水平偏 H is the horizontal offset of the equipment calculated based on total station measurement data. 垂直偏 This refers to the vertical offset of the equipment calculated based on total station measurement data.

[0074] When the distance synchronization matching value is less than or equal to 80% of the preset distance matching value, the control processor outputs a warning message; when the distance synchronization matching value is less than or equal to 0, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines; when the horizontal offset of the equipment is greater than or equal to 80% of the preset horizontal offset, the control processor outputs a warning message; when the horizontal offset of the equipment is greater than or equal to 100% of the preset horizontal offset, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines; when the vertical offset of the equipment is greater than or equal to 80% of the preset vertical offset, the control processor outputs a warning message; when the vertical offset of the equipment is greater than or equal to 100% of the preset vertical offset, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines.

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

[0076] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, 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 magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0077] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0078] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work 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 The function specified in one or more boxes.

[0079] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0080] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0081] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for synchronous monitoring of a suspended grouting bridge-building machine based on the Internet of Things and a Beidou total station, the method being based on a synchronous monitoring system for a suspended grouting bridge-building machine, used to control two identical suspended grouting bridge-building machines, the synchronous monitoring system comprising: The monitoring unit system comprises a local monitoring system and a remote monitoring system, among which: The monitoring unit system includes a BeiDou positioning unit, a sensor and signal monitoring unit, a total station measurement unit, and a 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 IoT cloud server to receive data sent by the monitoring unit system. The integrated computing configuration control unit includes a control processor that communicates with the IoT cloud server. The remote monitoring system includes an IoT cloud platform unit that communicates with the monitoring unit system; Its characteristics include the following four operating modes: Mode 1: When two cantilever bridge-building machines are performing lateral movement and the total station measurement unit is not using precise positioning, the control processor controls the BeiDou positioning unit to activate the synchronous high-performance operation mode via the IoT cloud server. The BeiDou positioning equipment station and the BeiDou positioning reference station select the differential data carrier phase processing mode, and upload the differential data of the BeiDou positioning reference station to the BeiDou positioning cloud server. The BeiDou positioning equipment station calculates and obtains positioning information based on the satellite positioning signal and the differential data of the reference station. 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. Mode 2: When two cantilever bridge-building machines are performing pouring, vibration, and curing operations without using a total station for precise positioning, the control processor controls the BeiDou positioning unit to activate a synchronous low-performance operation mode via the IoT cloud server. Each BeiDou positioning equipment station and BeiDou positioning reference station selects pseudorange measurement mode and uploads pseudorange data to the BeiDou positioning cloud server. The BeiDou positioning equipment station calculates and obtains positioning information based on satellite positioning signals and pseudorange data. The control processor calculates the distance synchronization matching value, equipment horizontal offset, and equipment vertical offset based on the positioning information. Mode 3: When neither of the two suspension bridge-building machines is in operation and the total station is not used for precise positioning, the control processor controls the Beidou positioning unit to activate the no-operation sleep mode through the IoT cloud server, and the Beidou positioning unit stops working to save system resources. Mode 4: When total station precise positioning is enabled, the control processor controls the Beidou positioning unit to enable synchronous high-performance operation mode through the IoT cloud server, starts the total station measurement unit to measure two cantilever bridge construction machines to obtain total station measurement data, and the control processor simultaneously receives the Beidou positioning unit measurement data and the total station measurement data to obtain positioning information. The control processor calculates the distance synchronization matching value, equipment horizontal offset and equipment vertical offset based on the positioning information.

2. The synchronous monitoring method for cantilever bridge construction machines based on the Internet of Things and Beidou total station as described in claim 1, characterized in that: The BeiDou positioning unit includes two sets of BeiDou positioning unit equipment stations, one set of BeiDou positioning unit reference station, and a BeiDou positioning cloud server that communicates with the BeiDou positioning unit equipment stations and reference station. The total station measurement unit includes two sets of total station prism rods and one set of total station instrument rods. One set of BeiDou positioning unit equipment station and one set of total station prism rod are installed at the centerline position of the saddle beam of each cantilever bridge construction machine, and one set of BeiDou positioning unit reference station and one set of total station instrument rod are installed at the centerline position of the bridge pier.

3. The synchronous monitoring method for cantilever bridge construction machines based on the Internet of Things and Beidou total station as described in claim 1, characterized in that: The aforementioned 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 method for cantilever bridge construction machines based on the Internet of Things and Beidou total station according to claim 3, characterized in that: The pressure sensor is installed on the boom monitoring point of each cantilever 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 cantilever bridge building machine; the stress sensor is installed on the mechanical structure stress point of each cantilever bridge building machine; the tilt sensor is installed on the horizontal surface of the saddle beam of each cantilever bridge building machine; and the temperature sensor, humidity sensor, and wind speed sensor are installed on at least one cantilever bridge building machine.

5. The synchronous monitoring method for cantilever bridge construction machines based on the Internet of Things and Beidou total station according to claim 1, characterized in that: The personnel identification unit is installed on the equipment registration threshold of the cantilever bridge construction machine and communicates with the data acquisition unit via fieldbus and / or 4G wireless communication.

6. The synchronous monitoring method for cantilever bridge construction machines based on the Internet of Things and Beidou total station according to claim 1, characterized in that: The IoT cloud platform unit includes a data list module for displaying and storing IoT 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. The synchronous monitoring method for cantilever bridge construction machines based on the Internet of Things and Beidou total station according to claim 1, characterized in that: When the distance synchronization matching value is less than or equal to 80% of the preset distance matching value, the control processor outputs a warning message; when the distance synchronization matching value is less than or equal to 0, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines; when the horizontal offset of the equipment is greater than or equal to 80% of the preset horizontal offset, the control processor outputs a warning message; when the horizontal offset of the equipment is greater than or equal to 100% of the preset horizontal offset, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines; when the vertical offset of the equipment is greater than or equal to 80% of the preset vertical offset, the control processor outputs a warning message; when the vertical offset of the equipment is greater than or equal to 100% of the preset vertical offset, the control processor outputs an alarm message and suspends the operation of the two cantilever bridge-building machines.

8. The synchronous monitoring method for cantilever bridge construction machines based on the Internet of Things and Beidou total station according to claim 7, characterized in that: During operation in each mode, the pressure sensor of the sensor and signal detection unit measures the pressure of the boom, the distance sensor measures the distance of the saddle beam cylinder, the distance of the anti-jacking support cylinder, and the distance of the longitudinal movement cylinder, the stress sensor measures the stress of the mechanical structure, the tilt sensor measures the X-axis tilt angle and the Y-axis tilt angle, 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. 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 suspension bridge building machines.

9. The synchronous monitoring method for cantilever bridge construction machines based on the Internet of Things and Beidou total station according to claim 7 or 8, characterized in that: If the forced working mode is activated, the operation of the two suspension bridge-building machines will not be paused.

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