Intelligent monitoring method and system for perpendicularity of moving component

Abstract

The invention belongs to the technical field of moving component perpendicularity monitoring, and particularly relates to a moving component perpendicularity intelligent monitoring method and system, and the method comprises the steps: installing perpendicularity monitoring devices in four directions of the top of the inner side of a prefabricated pier body; the method comprises the following steps: acquiring multiple dip angle data of each perpendicularity monitoring device before hoisting, after primary hoisting and after secondary hoisting through a cloud monitoring platform, and processing to obtain an initial reference value, a primary hoisting measurement value and a secondary hoisting measurement value respectively; according to the primary hoisting measurement value and the secondary hoisting measurement value, a primary inclination angle data deviation value and a secondary inclination angle data deviation value are calculated respectively, and the height difference of the two opposite side faces of the pier body is adjusted according to calculation results till the engineering construction specification requirement is met; and the perpendicularity monitoring device is dismantled and used for perpendicularity monitoring of the next prefabricated pier body. According to the invention, the verticality monitoring precision and the working efficiency of measurement personnel are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of verticality monitoring of mobile components, and in particular relates to an intelligent verticality monitoring method and system for mobile components. Background Art

[0002] In order to speed up the construction of offshore bridges and reduce the adverse effects of bridge construction on marine traffic and the environment, the prefabricated pier construction mode is gradually being applied in the construction fields of offshore highways and high-speed railways. Its positioning accuracy is high, and the plane and elevation positioning accuracy must be ≤10mm, and the verticality must be ≤H / 1000. The accuracy of the verticality monitoring of the offshore prefabricated pier is extremely important for the quality and progress of the project. Conventional measurement methods generally include theodolite measurement method, total station measurement method, plumb line method, and hanging line method. Because there is no measurement platform at sea, theodolite and total station measurement methods can only be set up on the cofferdam when used at sea. The cofferdam is greatly shaken and shaken by the strong tidal impact, resulting in the inability to accurately level the instrument, resulting in low measurement accuracy. The plumb line method cannot be set up due to the limitation that the sea platform is located underwater. The hanging line method is greatly affected by offshore wind and human factors, causing the pendulum to swing unsteadily, resulting in low measurement accuracy. Moreover, the above measurement methods all require manual reading and judgment, and cannot realize automatic measurement and data recording, which is inefficient and has a low degree of intelligence. In order to solve the above technical problems, the present invention designs a mobile component verticality monitoring device and an intelligent monitoring method. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and provide a method and system for intelligently monitoring the verticality of mobile components, thereby improving the safety of storage of prefabricated piers and the verticality monitoring accuracy during the transportation and erection of piers, as well as the work efficiency of surveyors.

[0004] Technical solution: The intelligent monitoring method for verticality of a moving component of the present invention comprises the following steps:

[0005] S1: Install verticality monitoring devices on the four sides of the inner top of the prefabricated pier;

[0006] S2: Obtain the inclination data collected multiple times by each verticality monitoring device before lifting through the cloud monitoring platform, and obtain the initial reference value after processing the inclination data;

[0007] S3: After the prefabricated pier body is hoisted to the pier storage pedestal, the cloud monitoring platform obtains the inclination data collected multiple times by the verticality monitoring device of each measuring point after one hoisting and processes it to obtain the one-time hoisting measurement value;

[0008] The following calculation and adjustment process is performed based on the first hoisting measurement value: the first hoisting measurement value is subtracted from the initial reference value to calculate the first inclination data deviation value; the verticality deviation value and height difference of the two relative sides of the pier top and pier bottom are calculated based on the first inclination data deviation value and the pier body size; the pier bottom pad is adjusted on the existing pier pedestal according to the calculation result until the height difference of the two relative sides of the pier body meets the requirements of the engineering construction specifications;

[0009] S4: After the prefabricated pier body is transported and hoisted to the pier position to be installed, the cloud monitoring platform obtains the inclination values ​​collected multiple times by the verticality monitoring device of each measuring point after the secondary hoisting and processes them to obtain the secondary hoisting measurement value. Based on the secondary hoisting measurement value, the calculation and adjustment process in S3 is repeated until the height difference between the two opposite sides of the pier body meets the requirements of the engineering construction specifications;

[0010] S5: Remove the verticality monitoring device and use it for verticality monitoring of the next precast pier.

[0011] To further improve the above technical solution, the inclination data processing process in S2, S3 and S4 includes:

[0012] Collect at least 60 inclination data through the verticality monitoring device at each measuring point;

[0013] Select the last 30 inclination angle data and filter them through the median filter algorithm, sort the filtered valid series and take the middle value , as the initial reference value for component verticality control, the calculation formula is as follows:

[0014] = (1)

[0015] (2)

[0016] in, is a valid sequence, is a valid sequence The index of the number of items, from 1 to 30; is the middle value of the sorted valid sequence, Sort is the sorting function, and n is an even number.

[0017] By collecting 60 tilt angle values ​​and discarding the first 30 preheating data, the median filtering algorithm is used to select the middle value of the sorted valid series with stable accuracy to eliminate environmental interference errors.

[0018] Furthermore, the verticality monitoring device is installed on the south side, north side, upstream side and downstream side of the inner top of the prefabricated pier body, and is marked as No. 1, No. 2, No. 3 and No. 4 in sequence; the verticality deviation value and height difference of the two opposite sides of the pier top and pier bottom include: the verticality deviation value of the pier top in the north-south direction , Verticality deviation value in upstream and downstream directions of pier top , Height difference between north and south directions of the pier bottom , Height difference between upstream and downstream directions of pier bottom According to the calculation results, the height difference between the north and south directions of the pier bottom is increased by padding at the bottom of the pier body. , Height difference between upstream and downstream directions of pier bottom Adjust to meet the requirements of engineering construction specifications until the verticality is ≤H / 1000.

[0019] Furthermore, the vertical deviation of the pier top in the north-south direction is The calculation formula is:

[0020] (3)

[0021] Verticality deviation of the pier top in the upstream and downstream directions for:

[0022] (4)

[0023] The north-south height difference of the pier bottom for:

[0024] (5)

[0025] The height difference of the pier bottom in the upstream and downstream directions for:

[0026] (6)

[0027] in, Indicates the length of the pier; Indicates the pier width; Indicates the height of the pier; It represents the middle value after the effective sequence is sorted, i represents the number of hoisting times; ai represents the tilt angle value after hoisting; a0 represents the initial tilt angle value before hoisting; Indicates the tilt angle value after hoisting of the No. 3 verticality monitoring device; Indicates the initial inclination value of the No. 3 verticality monitoring device before hoisting; Indicates the tilt angle value after hoisting of the No. 4 verticality monitoring device; Indicates the initial inclination value of the No. 4 verticality monitoring device before hoisting; Indicates the tilt angle value of the No. 2 verticality monitoring device after hoisting; Indicates the initial inclination value of the No. 2 verticality monitoring device before hoisting; Indicates the tilt angle value of the No. 1 verticality monitoring device after hoisting; It indicates the initial inclination value of the No. 1 verticality monitoring device before hoisting, and 206265 is the constant for converting angle to radians.

[0028] Furthermore, the pier bottom pad adjustment in S4 adopts a gradient approximation algorithm, and the adjustment direction and thickness recommendation value are displayed in real time until the north-south height difference of the pier bottom is , Height difference between upstream and downstream directions of pier bottom All ≤2mm.

[0029] Furthermore, the cloud monitoring platform uses a time series database to store data, and uses a machine learning algorithm to perform trend analysis on historical verticality deviations to achieve abnormal state warning.

[0030] Furthermore, during the transportation phase, the client continuously receives inclination data and generates a dynamic posture curve. If a sudden change in inclination exceeding a threshold is detected, an early warning is triggered and the lifting operation is suspended.

[0031] The mobile component verticality monitoring device used to implement the above-mentioned mobile component verticality intelligent monitoring method comprises:

[0032] An installation panel and an installation connecting plate, wherein the installation connecting plate is fixed to the four sides of the top of the inner side of the prefabricated pier body by built-in bolts, and the installation panel can be detachably inserted into the installation connecting plate; At least four inclination sensors are respectively fixed at preset positions of the device panel through inclination sensor mounting holes, and are used to collect inclination data of the prefabricated pier body in real time; The DTU device is fixed on the device panel through the DTU mounting hole and connected to the tilt sensor data interface through a data cable to upload the tilt data to the cloud monitoring platform; The lithium battery is fixed on the device panel through the lithium battery clip and connected to the DTU device through the air switch device to provide continuous power supply for the DTU device; Cloud monitoring platform for receiving, storing and analyzing inclination data; The client is connected to the cloud monitoring platform and is used to display the verticality deviation calculation results in real time and output adjustment instructions.

[0033] Furthermore, the inclination sensor includes a high-precision dual-axis inclination sensor with a measurement accuracy of not less than 0.001° and a data acquisition frequency of seconds. Each sensor is installed in four directions: south, north, upstream, and downstream, and is kept parallel to the pier axis during installation.

[0034] Furthermore, the DTU device integrates a 4G / 5G communication module, a built-in DTU sim card interface and a DTU external antenna, supports wireless data transmission to a cloud monitoring platform, and has a data encryption function.

[0035] Furthermore, the lithium battery is a rechargeable lithium-ion battery pack, equipped with an overcharge and over-discharge protection circuit, and power on and off control is achieved through an air switch device. The battery life is not less than 72 hours, and the lithium battery is equipped with a low-temperature heating module to ensure normal operation in an environment of -20°C to 60°C.

[0036] Beneficial effects: Compared with the prior art, the advantages of the present invention are: the monitoring equipment provided by the present invention is lightweight, easy to install and disassemble, and can automatically monitor, collect, transmit and store data. The client can automatically calculate and feedback the component posture in real time, assist in adjustment, and have a high degree of automation. The monitoring method provided by the present invention is reliable, accurate in data, high in precision, short in measurement time, fast in process conversion, and can be operated around the clock, greatly improving work efficiency. It saves time to increase the number of pier body assemblies during the effective period of high and low tides, and saves ship, instrument and labor costs. In an environment where the component installation surface is uneven and not completely vertical, high-precision monitoring of the verticality of the component can be completed by installing the mobile component verticality monitoring device provided by the present invention. The mobile component verticality monitoring device described in the present invention integrates the functions of verticality measurement, mobile power supply, Internet of Things communication, cloud monitoring platform, client, etc., and the verticality monitoring device is light in weight, durable, easy to disassemble, and can be recycled. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the three-dimensional structure of the verticality monitoring device of the moving component of the present invention;

[0038] Figure 2 It is a front view of the verticality monitoring device for a moving member according to the present invention;

[0039] Figure 3 It is a side view of the verticality monitoring device of the moving member of the present invention;

[0040] Figure 4 A top view of the device for monitoring the verticality of a moving member according to the present invention;

[0041] Figure 5 It is a schematic diagram of the forward and lateral directions of the high-precision sensor in the verticality monitoring device for a moving member of the present invention;

[0042] Figure 6 It is a schematic diagram of the forward and lateral directions of the DTU module in the verticality monitoring device for a moving component of the present invention;

[0043] Figure 7 It is a schematic diagram of the forward and lateral directions of the air switch in the verticality monitoring device for a moving member of the present invention;

[0044] Figure 8 It is a schematic diagram of the forward and lateral directions of the lithium polymer battery in the verticality monitoring device for a moving member of the present invention;

[0045] Fig. 9 This is a schematic diagram of the connection relationship between the mobile component verticality monitoring device, the cloud monitoring platform, and the client according to the present invention;

[0046] Fig.10 It is the principle plan layout diagram for calculating the verticality of the moving components;

[0047] Fig.11 It is the elevation layout drawing of the principle of verticality calculation of mobile components;

[0048] Fig.12 It is the side layout diagram of the calculation principle of verticality of moving components;

[0049] In the figure: 1-tilt sensor mounting hole; 2-tilt sensor; 3-tilt sensor data interface; 4-data line; 5-lithium battery clip; 6-lithium battery; 7-lithium battery charging interface; 8-lithium battery power supply interface; 9-DTU external antenna; 10-DTU mounting hole; 11-DTU device; 12-DTU power interface; 13-DTU data access port; 14-DTUsim card interface; 15-output power line; 16-air switch device; 17-air switch output interface; 18-air switch input interface; 19-input power line; 20-device panel; 21-device connection board; 22-cloud monitoring platform; 23-client; 100-No. 1 verticality monitoring device; 200-No. 2 verticality monitoring device; 300-No. 3 verticality monitoring device; 400-No. 4 verticality monitoring device. DETAILED DESCRIPTION

[0050] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0051] Example 1: Figure 1 The verticality monitoring device shown includes: an inclination sensor mounting hole 1, an inclination sensor 2, an inclination sensor data interface 3, a data cable 4, a lithium battery clip 5, a lithium battery 6, a lithium battery charging interface 7, a lithium battery power supply interface 8, a DTU external antenna 9, a DTU mounting hole 10, a DTU device 11, a DTU power interface 12, a DTU data access port 13, a DTU sim card interface 14, an output power cable 15, an air switch device 16, an air switch output interface 17, an air switch input interface 18, an input power cable 19, a device panel 20, a device connection board 21, a cloud monitoring platform 22, and a client 23.

[0052] See also Figure 1-Figure 8The installation position relationship between each structural component is as follows: the inclination sensor 2 is fixed to the upper left of the device panel 20 through the four inclination sensor installation holes 1. The DTUsim card is inserted into the DTUsim card interface 14, and the DTU external antenna 9 is inserted into the DTU device 11 and fixed to the upper right of the device panel 20 through the four DTU installation holes 10. The air switch device 16 is fixed to the lower right of the device panel 20. The lithium battery 6 is fixed to the lower left of the device panel 20 through two lithium battery clips 5, and then the data line 4 is connected from the inclination sensor data interface 3 to the DTU data access port 13, the output power line 15 is connected from the DTU power interface 12 to the air switch output interface 17, and the input power line 19 is connected from the air switch input interface 18 to the lithium battery power supply interface 8.

[0053] like Fig. 9 As shown, the mobile component verticality monitoring system provided by the present invention is composed of a verticality monitoring device, a client 23, and a cloud monitoring platform 22. The working principle is as follows: the client 23 sends a monitoring instruction to the cloud monitoring platform 22. After receiving the instruction, the cloud monitoring platform 22 forwards it to the corresponding inclination sensor 2. The inclination sensor uploads the collected monitoring data to the cloud monitoring platform 22 through network communication technology. After receiving the monitoring data, the cloud monitoring platform 22 stores the data in a database, and performs data processing and analysis (automatically calculates the verticality deviation of the pier top and the height difference of the pier bottom after the prefabricated pier body is hoisted according to the pier body structure size and deviation value). The cloud monitoring platform 22 pushes the processed data and analysis results to the client 23. On-site surveyors can view monitoring data, reports, warning information, etc. in real time through the client 23, and adjust the position according to the verticality deviation and the height difference of the pier bottom.

[0054] The mobile component verticality monitoring system provided by the present invention obtains the inclination values ​​of the four verticality monitoring devices installed on the top of the inner side of the prefabricated pier body in real time through the cloud monitoring platform, automatically monitors the deviation of the inclination values ​​relative to the gravity direction before and after hoisting, and automatically calculates the verticality deviation of the pier top and the height difference of the pier bottom after the prefabricated pier body is hoisted according to the pier body structure size and the deviation value, and pushes them to the client. The client generates control instructions according to the verticality deviation and the height difference of the pier bottom to adjust them into place, and the whole process can be viewed in real time by the client. For the convenience of disassembly and reversal, the device connecting plate 21 can be fixed to the side of the pier body by built-in bolts, and the mobile component verticality monitoring device can be inserted into the device connecting plate 21 through the device panel 20 before monitoring, and the device can be pulled out after the monitoring is completed. The measurement of the initial reference value of verticality should be completed on the pier pedestal with no verticality deviation of the pier body, and the matching measurement of the initial reference value can also be completed under known verticality data.

[0055] Embodiment 2: A method for monitoring the verticality of a moving component using the system provided in Embodiment 1 specifically includes the following process: Step 1: After the concrete pouring of the prefabricated pier body pier base is completed, four verticality monitoring devices are installed on the south side, north side, upstream side and downstream side of the inner top of the prefabricated pier body, and marked as verticality monitoring device No. 1 100, verticality monitoring device No. 2 200, verticality monitoring device No. 3 300, verticality monitoring device No. 4 400 in sequence through the client, as shown in FIG. Fig.10 As shown;

[0056] Step 2: Collect 60 inclination data of verticality monitoring devices at each measuring point before hoisting through the cloud monitoring platform, select the last 30 stable data, and use the median filtering algorithm to select the middle value of the effective sequence with stable accuracy after sorting. , as the initial reference value for component verticality control;

[0057] = (1)

[0058] (2)

[0059] in, is a valid sequence, is a valid sequence The number of items indexed, from 1 to 30, is the middle value of the sorted valid sequence; Sort is the sorting function; n is an even number;

[0060] Step 3: After the prefabricated pier body is hoisted to the pier storage pedestal for storage, the cloud monitoring platform collects 60 inclination data of the verticality monitoring device at each measuring point after hoisting, selects the last 30 stable data, and selects the middle value of the effective sequence with stable accuracy after sorting through the median filtering algorithm. , and the difference with the original initial reference value is calculated to obtain the first inclination data deviation value. Based on the first inclination data deviation value and the pier body size, the vertical deviation value of the pier top in the north-south direction is calculated. , Verticality deviation value in upstream and downstream directions of pier top , and the north-south height difference of the pier bottom , Height difference between upstream and downstream directions of pier bottom ,like Fig.11 , Fig.12 As shown in the figure, according to the calculation results, the pier bottom pad is adjusted at the pier base or installation pier position to adjust the height difference of the pier body in the north-south direction. , height difference in upstream and downstream directions Adjust to meet the requirements of engineering construction specifications until the verticality meets ≤H / 1000;

[0061] Step 4: After the prefabricated pier body is transported and hoisted to the pier position to be installed, the cloud monitoring platform collects multiple inclination values ​​of each verticality monitoring device after the second hoisting and calculates the secondary inclination data deviation value from the initial reference value. Based on the secondary deviation value and the pier body size, the verticality deviation value in the north-south direction of the pier top is calculated again. , Verticality deviation value in upstream and downstream directions of pier top , Height difference between north and south directions of the pier bottom , Height difference between upstream and downstream directions of pier bottom ;

[0062] According to the calculation results, the height difference between the north and south directions of the pier body is adjusted by padding at the bottom of the pier body. , height difference in upstream and downstream directions Adjust to meet the requirements of engineering construction specifications until the verticality meets ≤H / 1000;

[0063] Step 5: Remove the verticality monitoring device and use it for verticality monitoring of the next prefabricated pier.

[0064] Verticality deviation of pier top in north-south direction The calculation formula is:

[0065] (3)

[0066] Verticality deviation of pier top in upstream and downstream directions for:

[0067] (4)

[0068] Height difference between north and south directions of pier bottom for:

[0069] (5)

[0070] Height difference between upstream and downstream directions of pier bottom for:

[0071] (6)

[0072] in, Indicates the length of the pier; Indicates the pier width; Indicates the height of the pier; It represents the middle value after the effective sequence is sorted, i represents the number of hoisting times; ai represents the tilt angle value after hoisting; a0 represents the initial tilt angle value before hoisting; Indicates the tilt angle value after hoisting of the No. 3 verticality monitoring device; Indicates the initial inclination value of the No. 3 verticality monitoring device before hoisting; Indicates the tilt angle value after hoisting of the No. 4 verticality monitoring device; Indicates the initial inclination value of the No. 4 verticality monitoring device before hoisting; Indicates the tilt angle value of the No. 2 verticality monitoring device after hoisting; Indicates the initial inclination value of the No. 2 verticality monitoring device before hoisting; Indicates the tilt angle value of the No. 1 verticality monitoring device after hoisting; It indicates the initial inclination value of the No. 1 verticality monitoring device before hoisting, and 206265 is the constant for converting angle to radians.

[0073] When conducting intelligent monitoring, in order to reduce the impact of temperature changes, vibrations, electromagnetic interference, etc., and to ensure that there are no electromagnetic field equipment or large vibration interference sources around the monitoring area, the first 30 preheating data are discarded when collecting 60 inclination angle values ​​during monitoring, and the last 30 stable data are used through the median filtering algorithm to select the middle value of the sorted valid series with stable accuracy to eliminate environmental interference errors.

[0074] The method provided by the present invention can accurately measure the verticality change value of various irregular surfaces by using the inclination deviation relative to the gravity direction in various postures before and after the pier body is hoisted, and the measurement accuracy can reach 0.17mm / 10m, that is, 1 / 58823, and accurately calculate the verticality deviation of the pier top and the height difference of the pier bottom and adjust them in place, avoiding the accidental error caused by the verticality of a small area of ​​the mobile component itself to calculate the verticality of a large area. The intelligent monitoring method is simple and efficient, with automatic monitoring, automatic recording, automatic calculation, real-time data transmission and real-time posture adjustment, and high automation. The data is accurate, the verticality monitoring accuracy is high, the measurement time is short, the process conversion is fast, and it can be operated around the clock.

[0075] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A method for intelligently monitoring the verticality of a moving component, characterized in that: The following steps are involved: S1: Install verticality monitoring devices on the four sides of the inner top of the prefabricated pier; S2: Obtain the inclination data collected multiple times by each verticality monitoring device before lifting through the cloud monitoring platform, and obtain the initial reference value after processing the inclination data; S3: After the prefabricated pier body is hoisted to the pier storage pedestal, the cloud monitoring platform obtains the inclination data collected multiple times by the verticality monitoring device of each measuring point after one hoisting and processes it to obtain the one-time hoisting measurement value; The following calculation and adjustment process is performed based on the first hoisting measurement value: the first hoisting measurement value is subtracted from the initial reference value to calculate the first inclination data deviation value, and the verticality deviation value and height difference are calculated based on the first inclination data deviation value and the pier body size; according to the calculation result, the pier bottom pad is adjusted on the existing pier pedestal until the height difference between the two opposite sides of the pier body meets the requirements of the engineering construction specifications; S4: After the prefabricated pier body is transported and hoisted to the pier position to be installed, the cloud monitoring platform obtains the inclination values ​​collected multiple times by the verticality monitoring device of each measuring point after the secondary hoisting and processes them to obtain the secondary hoisting measurement value. Based on the secondary hoisting measurement value, the calculation and adjustment process in S3 is repeated until the height difference between the two opposite sides of the pier body meets the requirements of the engineering construction specifications; S5: Remove the verticality monitoring device and use it for verticality monitoring of the next precast pier.

2. The intelligent monitoring method for verticality of a mobile component according to claim 1, characterized in that: The inclination data processing process in S2, S3 and S4 includes: Collect at least 60 inclination data through the verticality monitoring device at each measuring point to obtain an initial series; Select the last 30 inclination angle data in the initial sequence and filter them through the median filter algorithm, sort the filtered valid sequence and take the middle value , as the initial reference value for component verticality control, the calculation formula is as follows: = （1） （2） in, is the initial sequence, is a valid sequence, is a valid sequence The index of the number of items, from 1 to 30; is the middle value of the sorted valid sequence, Sort is the sorting function, and n is an even number.

3. The intelligent monitoring method for verticality of a mobile component according to claim 1, characterized in that: The verticality monitoring devices are installed on the south side, north side, upstream side and downstream side of the inner top of the prefabricated pier body and are marked as No. 1, No. 2, No. 3 and No. 4 in sequence; The verticality deviation value and height difference include: the verticality deviation value in the north-south direction of the pier top , Verticality deviation value in upstream and downstream directions of pier top , Height difference between north and south directions of the pier bottom , Height difference between upstream and downstream directions of pier bottom ; According to the calculation results, the height difference between the north and south directions of the pier bottom is increased by padding at the bottom of the pier body. , Height difference between upstream and downstream directions of pier bottom Adjust to meet the requirements of engineering construction specifications until the verticality is ≤H / 1000.

4. The method for intelligently monitoring verticality of a moving component according to claim 3 is characterized in that: The vertical deviation of the pier top in the north-south direction The calculation formula is: （3） Verticality deviation of the pier top in the upstream and downstream directions for: （4） The north-south height difference of the pier bottom for: （5） The height difference of the pier bottom in the upstream and downstream directions for: （6） in, Indicates the length of the pier; Indicates the pier width; Indicates the height of the pier; It represents the middle value after the effective sequence is sorted, i represents the number of hoisting times; ai represents the tilt angle value after hoisting; a0 represents the initial tilt angle value before hoisting; Indicates the tilt angle value after hoisting of the No. 3 verticality monitoring device; Indicates the initial inclination value of the No. 3 verticality monitoring device before hoisting; Indicates the tilt angle value after hoisting of the No. 4 verticality monitoring device; Indicates the initial inclination value of the No. 4 verticality monitoring device before hoisting; Indicates the tilt angle value of the No. 2 verticality monitoring device after hoisting; Indicates the initial inclination value of the No. 2 verticality monitoring device before hoisting; Indicates the tilt angle value of the No. 1 verticality monitoring device after hoisting; It indicates the initial inclination value of the No. 1 verticality monitoring device before hoisting, and 206265 is the constant for converting angle to radians.

5. The method for intelligently monitoring verticality of a moving component according to claim 3, characterized in that: The pier bottom pad adjustment in S4 adopts a gradient approximation algorithm, and displays the adjustment direction and thickness recommendation value in real time until the north-south height difference of the pier bottom is , Height difference between upstream and downstream directions of pier bottom All ≤2mm.

6. The method for intelligently monitoring verticality of a moving component according to claim 1, characterized in that: The cloud monitoring platform uses a time series database to store data and uses a machine learning algorithm to perform trend analysis on historical verticality deviations to achieve abnormal state warnings; During the transportation phase, the inclination data is continuously acquired and a dynamic posture curve is generated. If a sudden change in the inclination angle exceeding the threshold is detected, an early warning is triggered and the lifting operation is suspended.

7. A moving component verticality monitoring system for implementing the moving component verticality intelligent monitoring method according to claim 1, characterized in that: include: A verticality monitoring device, the verticality monitoring device comprising a device panel (20), a device connection plate (21), an inclination sensor (2), a DTU device (11), and a lithium battery (6); the device connection plate (21) is fixed to the side surfaces at four positions on the top of the inner side of a prefabricated pier body, and the device panel (20) is detachably inserted into the device connection plate (21); the inclination sensor (2) is fixed to a preset position of the device panel (20) through an inclination sensor mounting hole (1), and is used to collect inclination data of the prefabricated pier body in real time; the DTU device (11) is fixed to the device panel (20) through the DTU mounting hole (10), and is connected to the inclination sensor data interface (3) through a data line (4), and is used to upload the inclination data to a cloud monitoring platform (22); the lithium battery (6) is fixed to the device panel (20) through a lithium battery clip (5), and is connected to the DTU device (11) through an air switch device (16), and provides continuous power supply to the DTU device (11); The cloud monitoring platform (22) is used to receive, store and analyze the inclination data, including receiving the inclination data collected by the inclination sensor before the prefabricated pier body is hoisted, after the first hoisting and after the second hoisting, respectively, calculating the initial reference value, the first hoisting measurement value and the second hoisting measurement value accordingly, and calculating the verticality deviation calculation result based on the deviations between the first hoisting measurement value and the second hoisting measurement value and the initial reference value respectively; The client (23) is connected to the cloud monitoring platform (22) and is used to display the verticality deviation calculation results in real time and output adjustment instructions.

8. The moving component verticality monitoring system according to claim 7, characterized in that: The inclination sensor (2) is a high-precision dual-axis inclination sensor with a measurement accuracy of not less than 0.001° and a data acquisition frequency of seconds. Each inclination sensor (2) is installed at four locations corresponding to the south, north, upstream and downstream of the top of the inner side of the prefabricated pier body and is kept parallel to the pier body axis during installation.

9. The moving component verticality monitoring system according to claim 7, characterized in that: The DTU device (11) integrates a 4G / 5G communication module, a built-in DTU sim card interface (14) and a DTU external antenna (9), supports wireless data transmission to a cloud monitoring platform (22), and has a data encryption function.

10. The verticality monitoring system for a mobile component according to claim 7, characterized in that: The lithium battery (6) is a rechargeable lithium-ion battery pack, equipped with an overcharge and over-discharge protection circuit, and realizes power on-off control through an air switch device (16). The battery life is not less than 72 hours, and the lithium battery (6) is equipped with a low-temperature heating module to ensure normal operation in an environment of -20°C to 60°C.

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