A method and system for intelligent monitoring of the perpendicularity of a moving member

Abstract

The present application belongs to the technical field of mobile component perpendicularity monitoring, and particularly relates to a mobile component perpendicularity intelligent monitoring method and system, comprising: installing perpendicularity monitoring devices in four directions on the top of the inner side of a prefabricated pier body; obtaining multiple inclination data of each perpendicularity monitoring device before hoisting, after first hoisting, and after second hoisting through a cloud monitoring platform, and obtaining an initial reference value, a first hoisting measurement value, and a second hoisting measurement value after processing; calculating a first inclination data deviation value and a second inclination data deviation value according to the first hoisting measurement value and the second hoisting measurement value, respectively, and adjusting the height difference of two opposite sides of the pier body until the requirements of the engineering construction specification are met according to the calculation results; and removing the perpendicularity monitoring devices and using them for the perpendicularity monitoring of the next prefabricated pier body. The present application improves the perpendicularity monitoring precision and the working efficiency of the measurement personnel.

Description

Technical Field

[0001] The present 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] To accelerate offshore bridge construction and minimize the adverse impacts of bridge construction on maritime traffic and the environment, prefabricated pier construction is increasingly being adopted in offshore highway and high-speed railway construction. This approach requires high positioning accuracy, with horizontal and vertical positioning accuracy required to be ≤10mm and verticality to be ≤H / 1000. Accurate verticality monitoring of offshore prefabricated piers is crucial to project quality and progress. Conventional surveying methods generally include theodolite, total station, plumb bob, and hanging line methods. Due to the lack of offshore survey platforms, theodolite and total station methods can only be set up on cofferdams. However, strong tidal surges can cause significant vibration and swaying, preventing precise leveling of the instruments and resulting in low measurement accuracy. The plumb bob method is limited by the underwater location of the offshore pier, making it impossible to set up. The hanging line method is significantly affected by offshore winds and human factors, resulting in unstable plumb bob and 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 of the existing technology and provide a method and system for intelligent monitoring of the verticality of mobile components, thereby improving the safety of prefabricated pier storage and the verticality monitoring accuracy during the transportation and erection of piers, as well as the work efficiency of surveyors.

[0004] Technical solution: The method for intelligently monitoring the 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 precast 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 at 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 opposite sides of the pier top and pier bottom are calculated based on the first inclination data deviation value and the pier body dimensions; the pier bottom pad is adjusted on the existing pier pedestal according to the calculation results until the height difference of the two opposite 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 location to be installed, the cloud monitoring platform obtains the inclination angle values ​​collected multiple times by the verticality monitoring device at each measuring point after the second hoisting and processes them to obtain the second hoisting measurement value. Based on the second 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 tilt angle data processing process in S2, S3, and S4 includes:

[0012] Collect inclination data at least 60 times 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 effective series obtained by filtering and take the median 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 number of items indexed, 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 devices are installed on the south, north, upstream and downstream sides of the inner top of the prefabricated pier body and are marked as No. 1, No. 2, No. 3 and No. 4 respectively; the verticality deviation values ​​and height differences 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 of pier bottom in north-south direction , height difference between upstream and downstream directions of the pier bottom According to the calculation results, the height difference between the north and south directions of the pier bottom is adjusted by padding at the bottom of the pier body. , height difference between upstream and downstream directions of the 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] The vertical 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 pier height; 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 of the No. 3 verticality monitoring device after hoisting; Indicates the initial inclination value of the No. 3 verticality monitoring device before hoisting; Indicates the tilt angle value of the No. 4 verticality monitoring device after hoisting; 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; Indicates the initial inclination value of the No. 1 verticality monitoring device before hoisting. 206265 is the constant for converting angle to radians.

[0028] Furthermore, the pier bottom pad adjustment in S4 adopts a gradient approximation algorithm, which 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 the 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] A mobile component verticality monitoring device for implementing 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 inner side of the prefabricated pier body by built-in bolts, and the installation panel is detachably inserted into the installation connecting plate;

[0033] At least four inclination sensors are fixed to preset positions of the device panel through inclination sensor mounting holes, respectively, for collecting inclination data of the prefabricated pier body in real time;

[0034] 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;

[0035] The lithium battery is fixed to the device panel through the lithium battery clip and connected to the DTU device through the air switch device to provide continuous power for the DTU device;

[0036] Cloud monitoring platform for receiving, storing and analyzing tilt data;

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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 automatically monitors, collects, transmits and stores data. The component posture is automatically calculated and fed back in real time by the client, and the adjustment is assisted, with a high degree of automation. The monitoring method provided by the present invention is reliable, the data is accurate, the precision is high, the measurement time is short, the process conversion is fast, and it can be operated around the clock, which greatly improves work efficiency. It saves time for increasing the number of pier 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 component verticality can be completed by installing the mobile component verticality monitoring device provided by the present invention. The mobile component verticality monitoring device of 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 lightweight, durable, easy to disassemble, and can be recycled. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 This is a schematic diagram of the three-dimensional structure of the mobile component verticality monitoring device of the present invention;

[0043] Figure 2 This is a front view of the device for monitoring the verticality of a moving member according to the present invention;

[0044] Figure 3 This is a side view of the mobile component verticality monitoring device of the present invention;

[0045] Figure 4 This is a top view of the mobile component verticality monitoring device of the present invention;

[0046] Figure 5 Schematic diagrams of the forward and lateral directions of the high-precision sensor in the device for monitoring the verticality of a moving component according to the present invention;

[0047] Figure 6 Schematic diagram of the DTU module in the verticality monitoring device for a moving component according to the present invention from the front and side;

[0048] Figure 7 Schematic diagram of the forward and side views of the air switch in the verticality monitoring device for a moving component according to the present invention;

[0049] Figure 8 Schematic diagram of the forward and side views of the lithium polymer battery in the verticality monitoring device for a moving component according to the present invention;

[0050] Figure 9 This is a schematic diagram of the connection relationship between the mobile component verticality monitoring device, cloud monitoring platform, and client according to the present invention;

[0051] Figure 10 It is the plan layout diagram of the principle of verticality calculation of mobile components;

[0052] Figure 11 This is the elevation layout drawing of the principle of verticality calculation of mobile components;

[0053] Figure 12 This is the side layout diagram of the calculation principle of the verticality of the moving component;

[0054] In the figure: 1-Tilt sensor mounting hole; 2-Tilt sensor; 3-Tilt sensor data interface; 4-Data cable; 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-DTU sim card interface; 15-Output power cable; 16-Air switch device; 17-Air switch output interface; 18-Air switch input interface; 19-Input power cable; 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

[0055] 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.

[0056] Example 1: Figure 1 The verticality monitoring device shown includes: a tilt sensor mounting hole 1, a tilt sensor 2, a tilt 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.

[0057] See also Figures 1-8The installation position relationship between the various structural components is as follows: Secure the inclinometer 2 to the upper left of the device panel 20 through the four inclinometer mounting holes 1. Insert the DTU sim card into the DTU sim card interface 14. Insert the DTU external antenna 9 into the DTU device 11 and secure it to the upper right of the device panel 20 through the four DTU mounting holes 10. Secure the air switch device 16 to the lower right of the device panel 20. Secure the lithium battery 6 to the lower left of the device panel 20 through the two lithium battery clips 5. Then, connect the data cable 4 from the inclinometer data interface 3 to the DTU data access port 13. Connect the output power cable 15 from the DTU power interface 12 to the air switch output interface 17. Connect the input power cable 19 from the air switch input interface 18 to the lithium battery power interface 8.

[0058] like Figure 9 As shown in FIG. 1 , the mobile component verticality monitoring system provided by the present invention comprises a verticality monitoring device, a client 23, and a cloud monitoring platform 22. Its operating principle is as follows: Client 23 sends monitoring instructions to cloud monitoring platform 22. Upon receiving the instructions, cloud monitoring platform 22 forwards them to the corresponding inclination sensor 2. The inclination sensor then uploads the collected monitoring data to cloud monitoring platform 22 via network communication technology. Cloud monitoring platform 22 stores the received monitoring data in a database and performs data processing and analysis (automatically calculating the verticality deviation of the pier top and the height difference of the pier bottom after hoisting the prefabricated pier body based on the pier body structural dimensions and deviation values). Cloud monitoring platform 22 then pushes the processed data and analysis results to client 23. On-site surveyors can use client 23 to view monitoring data, reports, and early warning information in real time and make adjustments based on the verticality deviation and the height difference of the pier bottom.

[0059] 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 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 direction of gravity 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 based on the verticality deviation and the height difference of the pier bottom to adjust them into place, and the entire process can be viewed in real time by the client. To facilitate disassembly and re-use, the device connecting plate 21 can be fixed to the side of the pier body by built-in bolts. Before monitoring, the mobile component verticality monitoring device can be inserted into the device connecting plate 21 through the device panel 20, 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 a pier base with no verticality deviation of the pier body, or the matching measurement of the initial reference value can be completed under known verticality data.

[0060] Example 2: A method for monitoring the verticality of a moving component using the system provided in Example 1 specifically includes the following steps:

[0061] 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, and verticality monitoring device No. 4 400 in sequence through the client, as shown in the following figure: Figure 10 As shown;

[0062] Step 2: Collect 60 inclination angle 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 filter algorithm to select the middle value of the effective sequence with stable accuracy. , as the initial reference value for component verticality control;

[0063] = (1)

[0064] (2)

[0065] 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;

[0066] Step 3: After the prefabricated pier body is hoisted to the pier storage base, the cloud monitoring platform collects 60 inclination angle data of the verticality monitoring device at each measuring point after one hoisting, selects the last 30 stable data, and uses the median filter algorithm to select the middle value of the effective sequence with stable accuracy. , and the difference with the original initial reference value is calculated to calculate the first inclination data deviation value, and the vertical deviation value of the pier top in the north-south direction is calculated based on the first inclination data deviation value and the pier body size. , Verticality deviation value in upstream and downstream directions of pier top , and the height difference between the north and south directions of the pier bottom , height difference between upstream and downstream directions of the pier bottom ,like Figure 11 、 Figure 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;

[0067] Step 4: After the prefabricated pier body is transported and hoisted to the pier location 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 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 of pier bottom in north-south direction , height difference between upstream and downstream directions of the pier bottom ;

[0068] According to the calculation results, the height difference of the pier body in the north-south direction 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;

[0069] Step 5: Remove the verticality monitoring device and use it for verticality monitoring of the next precast pier.

[0070] Vertical deviation of pier top in north-south direction The calculation formula is:

[0071] (3)

[0072] Verticality deviation of pier top in upstream and downstream directions for:

[0073] (4)

[0074] Height difference between the pier bottom and the north-south direction for:

[0075] (5)

[0076] Height difference between upstream and downstream directions of pier bottom for:

[0077] (6)

[0078] in, Indicates the length of the pier; Indicates the pier width; Indicates the pier height; 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 of the No. 3 verticality monitoring device after hoisting; Indicates the initial inclination value of the No. 3 verticality monitoring device before hoisting; Indicates the tilt angle value of the No. 4 verticality monitoring device after hoisting; 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; Indicates the initial inclination value of the No. 1 verticality monitoring device before hoisting. 206265 is the constant for converting angle to radians.

[0079] During intelligent monitoring, in order to reduce the impact of temperature changes, vibrations, and electromagnetic interference, 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 tilt 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.

[0080] The method provided by the present invention utilizes the inclination deviation of the pier body relative to the direction of gravity in various postures before and after hoisting to accurately measure the verticality changes of various irregular surfaces. The measurement accuracy can reach 0.17mm / 10m, or 1 / 58823. The verticality deviation of the pier top and the height difference of the pier bottom are accurately calculated and adjusted, avoiding the accidental errors caused by extrapolating the verticality of a large area from the verticality of a small area of ​​the moving component itself. This intelligent monitoring method is simple and efficient, with automatic monitoring, automatic recording, automatic calculation, real-time data transmission and real-time posture adjustment, and a high degree of automation. The data is accurate, the verticality monitoring accuracy is high, the measurement time is short, the process change is fast, and it can be operated in all weather conditions.

[0081] 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 may be made to it in form and detail 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 precast pier. The verticality monitoring devices are installed on the south, north, upstream, and downstream sides of the inner top of the precast pier and are marked as No. 1, No. 2, No. 3, and No. 4, respectively. S2: Obtaining the inclination data collected multiple times by each verticality monitoring device before hoisting through the cloud monitoring platform, and processing the multiple collected inclination data using a median filter algorithm to obtain an initial reference value; 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 at each measuring point after one hoisting, and processes it using the median filter algorithm 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; based on the first inclination data deviation value and the pier body size, the verticality deviation value A in the north-south direction of the pier top, the verticality deviation value B in the upstream and downstream directions of the pier top, the north-south height difference Δh1 of the pier bottom, and the upstream and downstream height difference Δh2 of the pier bottom are calculated; The calculation formula for the vertical deviation A in the north-south direction of the pier top is: The vertical deviation B of the pier top in the upstream and downstream directions is: The height difference Δh1 of the pier bottom in the north-south direction is: The height difference Δh2 of the pier bottom in the upstream and downstream directions is: Wherein, l represents the pier length; w represents the pier width; h represents the pier height; 1-ai, 2-ai, 3-ai, and 4-ai represent the inclination angles of the No. 1, No. 2, No. 3, and No. 4 verticality monitoring devices after hoisting, respectively; 1-a0, 2-a0, 3-a0, and 4-a0 represent the initial inclination angles of the No. 1, No. 2, No. 3, and No. 4 verticality monitoring devices before hoisting, respectively; 206265 is the constant for converting angles to radians; According to the calculation results, the height difference Δh1 in the north-south direction and the height difference Δh2 in the upstream and downstream directions of the pier bottom are adjusted to meet the requirements of the engineering construction specifications by padding the bottom of the pier body until the verticality reaches ≤h / 1000; S4: After the prefabricated pier body is transported and hoisted to the pier location to be installed, the cloud monitoring platform obtains the inclination angle values ​​collected multiple times by the verticality monitoring devices at each measuring point after the second hoisting and processes them using the median filter algorithm to obtain the second hoisting measurement value. Based on the second hoisting measurement value, the calculation and adjustment process in S3 is repeated, wherein the pier bottom pad adjustment is guided by the gradient approximation algorithm 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 angle data through the verticality monitoring device at each measuring point to obtain an initial data series; The last 30 inclination angle data in the initial series are selected and filtered using the median filter algorithm. The valid series obtained by filtering are sorted and the median value a is taken as the initial reference value for component verticality control. The calculation formula is as follows: {y j }={x j+30 |j=1,2,……,30} (1) a=Sort(a0、a1、a2、……、a n ) n / 2 (2) Among them, {x j } is the initial sequence, {y j } is a valid sequence, j is a valid sequence {y j }, from 1 to 30; a 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 moving component according to claim 1, 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 height difference Δh1 in the north-south direction of the pier bottom and the height difference Δh2 in the upstream and downstream directions of the pier bottom are both ≤2mm.

4. The intelligent monitoring method for 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 vertical deviations to achieve abnormal status 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.

5. A mobile component verticality monitoring system for implementing the mobile component verticality intelligent monitoring method according to claim 1, characterized in that: include: A verticality monitoring device, comprising a device panel (20), a device connecting plate (21), an inclination sensor (2), a DTU device (11), and a lithium battery (6); the device connecting plate (21) is fixed to the four sides of the top inner side of the prefabricated pier body, and the device panel (20) is detachably inserted into the device connecting 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) to provide continuous power supply for 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 respectively, and calculating the verticality deviation calculation result based on the deviation 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.

6. The moving component verticality monitoring system according to claim 5, characterized in that: The tilt sensor (2) is a high-precision dual-axis tilt sensor with a measurement accuracy of not less than 0.001° and a data acquisition frequency of seconds. Each tilt sensor (2) is installed in the south, north, upstream and downstream directions of the top of the inner side of the prefabricated pier body and is kept parallel to the pier body axis during installation.

7. The moving component verticality monitoring system according to claim 5, 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.

8. The moving component verticality monitoring system according to claim 5, 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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