Intelligent monitoring and fault early warning method and system for communication iron tower

Abstract

The invention discloses an intelligent monitoring and fault early warning method and system for a communication iron tower. The method comprises the steps that the state of an underground cavity is determined, and a risk level area of an area to be detected is determined; determining a risk level area where each communication tower is located; determining a communication iron tower with primary risk early warning; acquiring target monitoring points of all the communication towers with primary risk early warning and earth surface area monitoring points of the area to be detected; a first iron tower plane, a second iron tower plane and a third iron tower plane of a communication iron tower are determined, and the fault type of the communication iron tower is determined according to the first iron tower plane, the second iron tower plane and the third iron tower plane of the communication iron tower; determining a high-risk-level target monitoring point and a high-risk target communication iron tower according to the iron tower monitoring data of the communication iron tower and the earth surface dynamic change data of the risk-level area; and displaying the fault type and the iron tower identifier of the high-risk target communication iron tower. The monitoring accuracy of the communication iron tower can be effectively improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of communication tower status monitoring, and in particular to an intelligent monitoring and fault warning method and system for communication towers. Background Art

[0002] As a key node in the communication network, communication towers carry a large number of communication equipment and signal transmission tasks. If the tower fails or is damaged, it will cause the communication service to be interrupted or even paralyzed, which will have a huge impact on people's lives and production. Therefore, fault monitoring of communication towers can timely detect and eliminate potential faults and ensure the stable operation of the communication network.

[0003] The traditional tower operation and maintenance method mainly relies on manual inspections, which not only has high labor costs and low efficiency, but also has limited coverage. For example, some communication towers are located in remote and dangerous places, which may be far away from cities, roads and people, or even in mountainous areas, deserts and other harsh environments. Maintenance personnel are unable to carry out inspections of communication towers in these areas, resulting in the inability to grasp the status of some communication towers in a timely manner and discover potential damage and deformation of communication towers. If these problems are not dealt with in a timely manner, they may cause further damage or even collapse of the communication tower, which will not only affect the stable operation of the communication network, but may also cause casualties due to accidents such as tower collapse.

[0004] Therefore, a solution is urgently needed to solve the above problems. Summary of the invention

[0005] The embodiments of the present application provide an intelligent monitoring and fault warning method and system for communication towers, which are used to improve the accuracy of communication tower monitoring.

[0006] To achieve the above objectives, the embodiments of the present application adopt the following technical solutions: In a first aspect, a method for intelligent monitoring and fault warning of a communication tower is provided, the method comprising: Obtain point cloud data of underground goaf areas in target cities and construct a three-dimensional model of underground goaf areas; Determine the underground cavity status of all the areas to be tested in the target city based on the three-dimensional model of the underground goaf; For any of the areas to be tested, determining a risk level area of ​​the area to be tested according to the underground cavity state; Using the Beidou satellite system to obtain the positioning information of all communication towers in the area to be tested; Based on the positioning information, determining the risk level area where each of the communication towers is located; Determine the communication towers with primary risk warnings through the risk level area where each communication tower is located; Acquire all target monitoring points of the communication towers and surface area monitoring points of the area to be measured that have primary risk warnings; For any one of the communication towers, determine the first tower plane, the second tower plane and the third tower plane of the communication tower, and determine the fault type of the communication tower according to the first tower plane, the second tower plane and the third tower plane of the communication tower; Based on the BeiDou satellite system, determining the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area; Determine a high-risk level target monitoring point among all the target monitoring points through the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area; Determine high-risk target communication towers through the high-risk level target monitoring points; The fault type and the tower identification of the high-risk target communication tower are displayed.

[0007] In another possible implementation of the first aspect, the underground cavity state includes an underground cavity diameter, an underground cavity morphology, and geological data, and determining the risk level area of ​​the area to be tested according to all the underground cavity states includes: Determining the geological data of the area to be tested through a preset geological database; Identify the edge features of the underground goaf through an edge recognition algorithm, and determine the diameter and shape of the underground cavity; Inputting the geological data, the underground cavity diameter and the underground cavity morphology into a preset safety distance model to determine the geological thickness safety distance of the underground goaf; Based on the geological thickness safety distance, the area to be tested is divided to determine the low-risk area, medium-risk area and high-risk area of ​​the area to be tested, wherein the low-risk area, the medium-risk area and the high-risk area are used to characterize the risk level area.

[0008] In another possible implementation manner of the first aspect, determining the risk level area where each of the communication towers is located based on the positioning information includes: Determine the tower base positioning coordinates of each communication tower through the positioning information; Calculate the tower base area of ​​each communication tower by locating the tower base coordinates of each communication tower; Compare each of the tower base areas with each of the risk level areas, and determine the weight value of the tower base area of ​​each of the communication towers in each of the risk level areas; The weight value is compared with a preset risk area threshold to determine the risk level area where each communication tower is located.

[0009] In another possible implementation of the first aspect, before obtaining all target monitoring points of the communication towers with primary risk warnings and the surface area monitoring points of the area to be measured, it is also necessary to: Obtaining the type of each communication tower for which a primary risk warning exists; Setting a plurality of target monitoring points according to the type of each communication tower, and setting a surface area monitoring point in each of the areas to be tested; A Beidou satellite signal receiving device is arranged in each of the target monitoring points and each of the surface area monitoring points; The monitoring points where Beidou satellite signal receiving devices are installed in the target monitoring points and the surface area monitoring points are used as Beidou monitoring mobile stations; The Beidou satellite signal receiving device is arranged in a preset position in a non-mined area; The preset position of the Beidou satellite signal receiving device is set as a Beidou monitoring base station.

[0010] In another possible implementation manner of the first aspect, setting a plurality of target monitoring points according to the type of each of the communication towers includes: Determine the tower structure corresponding to the type of each communication tower in a preset database; Performing stress characteristic analysis on the tower structure of each communication tower to determine the stress key points of the tower structure of each communication tower; Performing structural characteristic analysis on the tower structure of each communication tower to determine the key points of the connection structure of the tower structure of each communication tower; All the key stress points and the key points of the connection structure are set as target monitoring points.

[0011] In another possible implementation manner of the first aspect, determining the first tower plane, the second tower plane, and the third tower plane of the communication tower, and determining the fault type of the communication tower according to the first tower plane, the second tower plane, and the third tower plane of the communication tower, includes: For any of the communication towers, all target monitoring points in the tower base, tower body and tower top of the communication tower are mapped to a three-dimensional space coordinate system to determine the three-dimensional space coordinate points of all the target monitoring points of the communication tower; Determine the first tower plane of the communication tower through the three-dimensional space coordinate points of the tower base; Determine the second tower plane of the communication tower through the two target monitoring points in the tower body and the one target monitoring point in the tower base, wherein the two target monitoring points in the tower body and the one target monitoring point in the tower base are three non-collinear monitoring points; Determine a third tower plane of the communication tower through one of the target monitoring points in the tower tip and two of the target monitoring points in the tower body, wherein the one of the target monitoring points in the tower tip and the two of the target monitoring points in the tower body are three non-collinear monitoring points; Determine whether the angle between the first tower plane and the second tower plane is less than or equal to a preset angle threshold of the communication tower in a normal state; If the angle is less than a preset angle threshold, determining a first fault type of the communication tower; If the angle is equal to the preset angle threshold, determine whether the angle between the first tower plane and the third tower plane is less than the preset angle threshold of the communication tower in a normal state; If the angle is less than a preset angle threshold, the second fault type of the communication tower is determined.

[0012] In another possible implementation manner of the first aspect, determining the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area based on the Beidou satellite system includes: Obtaining the transmission time of the satellite signal between the Beidou satellite and the Beidou monitoring reference station; Determining a first observation distance between the Beidou satellite and the Beidou monitoring reference station by multiplying the transmission time by the speed of light; Determining, by carrier phase measurement technology, a first carrier phase of the Beidou satellite sending the satellite signal to the Beidou monitoring reference station; Based on the first carrier phase, calculating a second observation distance between the Beidou satellite and the Beidou monitoring reference station; Taking the difference between the first observation distance and the second observation distance as a differential correction number; Sending the differential correction number to the Beidou monitoring mobile station, wherein the sending of the differential correction number to the Beidou monitoring mobile station is via a correction satellite; Determining, by carrier phase measurement technology, a second carrier phase of the correction satellite sending the satellite signal to the Beidou monitoring mobile station; Determine the measurement distance between the Beidou monitoring mobile station and the correction satellite by performing differential calculation based on the differential correction number and the second carrier phase; Obtaining the coordinates of the Beidou monitoring mobile station by measuring the distance; The tower monitoring data of the communication tower and the surface dynamic change data of the risk level area are determined through the coordinates.

[0013] In another possible implementation manner of the first aspect, the method further includes: Obtaining the tower base coordinates of any one of the communication tower bodies; Determine whether the tower base coordinates have a numerical change within a preset time period; If the tower base coordinates do not change in value within a preset time period, obtaining the first coordinates of the first target monitoring point in the tower body at the first moment; Acquire a second coordinate of the first target monitoring point at a second moment; By using the first coordinate and the second coordinate, using the preset offset, settlement and inclination value formulas, respectively calculate the horizontal offset, vertical settlement and inclination value of the first target monitoring point in the time period from the first moment to the second moment; If the tower base coordinates change in value within a preset time period, obtaining the third coordinates of the second target monitoring point in the tower body at the first moment and the fourth coordinates of the third target monitoring point; Acquire the fifth coordinate of the second target monitoring point and the sixth coordinate of the third target monitoring point at the second moment; By using the third coordinate and the fifth coordinate, the horizontal offset, vertical settlement and inclination value of the second target monitoring point in the time period from the first moment to the second moment are calculated respectively by using the preset offset, settlement and inclination value formulas; The fourth coordinate and the sixth coordinate are used to calculate the horizontal offset, vertical settlement and inclination value of the third target monitoring point in the time period from the first moment to the second moment respectively using the preset offset, settlement and inclination value formulas.

[0014] In a second aspect, the present application provides a machine-readable storage medium, the instructions of which are used to enable a machine to execute the above-mentioned intelligent monitoring and fault warning method for communication towers.

[0015] In a third aspect, the present application provides an intelligent monitoring and fault warning method and system for a communication tower, including: a memory configured to store instructions; and The processor is configured to call the instructions from the memory and implement the above-mentioned intelligent monitoring and fault warning method for communication towers when executing the instructions.

[0016] Through the above technical scheme, by obtaining the point cloud data of the underground goaf area of ​​the target city and constructing a three-dimensional model, the underground cavity status of the target city can be accurately identified, which can provide basic data for subsequent risk assessment. According to the underground cavity status, the area to be tested can be divided into different risk level areas, which is helpful to take corresponding measures for different risk levels. By obtaining the positioning information of the communication tower through the Beidou satellite system and determining the risk level area where each tower is located, the communication tower with primary risk warning can be found in time, providing an important basis for subsequent monitoring and early warning. By determining the first tower plane, the second tower plane and the third tower plane of the communication tower, and determining the fault type based on these planes, the potential faults of the communication tower can be better identified, which is helpful to take timely measures for repair or replacement. By analyzing the tower monitoring data and the surface dynamic change data, the high-risk level target monitoring points are determined among all the target monitoring points, and the high-risk target communication towers are further determined, which is helpful to give priority to high-risk towers and ensure the stable operation of the communication network. The tower logos showing the fault types and high-risk target communication towers can intuitively display the assessment results, making it easier for relevant personnel to quickly understand and respond to risks, so that maintenance personnel can promptly deal with potential problems with communication towers, ensure the stable operation of the communication network, and reduce the risk of casualties due to accidents such as the collapse of the tower structure.

[0017] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A flow chart of a method for intelligent monitoring and fault warning of a communication tower provided in an embodiment of the present application; Figure 2 A structural schematic diagram of the status types of a communication tower provided in an embodiment of the present application. DETAILED DESCRIPTION

[0019] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It should be understood that the specific implementation methods described herein are only used to illustrate and explain the embodiments of the present application, and are not used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0020] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back...), such directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0022] Figure 1 The following schematically shows a flow chart of a method for intelligent monitoring and fault warning of a communication tower according to an embodiment of the present application. Figure 1 As shown, an embodiment of the present application provides an intelligent monitoring and fault warning method for a communication tower, which may include the following steps.

[0023] S101, obtaining point cloud data of underground goaf areas in target cities and constructing a three-dimensional model of underground goaf areas; S102, determining the underground cavity status of all the areas to be tested in the target city based on the three-dimensional model of the underground goaf; S103, for any area to be tested, determine the risk level area of ​​the area to be tested according to the underground cavity state; S104, using the Beidou satellite system to obtain positioning information of all communication towers in the area to be tested; S105. Determine the risk level area where each communication tower is located based on the positioning information; S106. Determine the communication towers with primary risk warnings based on the risk level area where each communication tower is located; S107, obtaining target monitoring points of all communication towers with primary risk warnings and surface area monitoring points of the area to be measured; S108. For any communication tower, determine a first tower plane, a second tower plane, and a third tower plane of the communication tower, and determine a fault type of the communication tower according to the first tower plane, the second tower plane, and the third tower plane of the communication tower; S109. Determine the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area based on the Beidou satellite system; S110, determining a high-risk target monitoring point among all target monitoring points through tower monitoring data of a communication tower and surface dynamic change data of a risk level area; S111. Determine high-risk target communication towers through high-risk target monitoring points; S112. Display the fault type and the tower identification of the high-risk target communication tower.

[0024] First, obtain the point cloud data of the underground goaf of the target city. In this embodiment, the target city is determined according to the actual situation. For example, it can be an energy-based city or other areas. LiDAR can be used for scanning to obtain high-precision three-dimensional point cloud data of the underground goaf. LiDAR is a spatial measurement system that integrates three technologies: laser, global positioning system, and inertial navigation system. Use ground LiDAR equipment to scan and obtain point cloud data of the underground goaf and its surrounding environment in the target city. Subsequently, a three-dimensional model of the underground goaf of the target city is constructed based on the point cloud data of the underground goaf. Modeling software such as ArcGIS, 3ds Max, etc. can be used for preliminary three-dimensional model construction. ArcGIS is a comprehensive geographic information system that integrates map making, spatial analysis, data management, and visualization. The three-dimensional model of the underground goaf is constructed through ArcGIS software.

[0025] After obtaining the three-dimensional model of the underground goaf, the underground void status of all areas to be tested in the target city is determined through the three-dimensional model of the underground goaf. In this embodiment, the area to be tested is the area where underground goaf exists. That is to say, based on the three-dimensional model of the underground goaf, all areas with underground goaf in the target city and the underground void status of all areas to be tested are determined, for example, the shape, size and other information of the underground voids in the underground goaf.

[0026] For any area to be tested, the risk level area of ​​the area to be tested is determined according to the state of the underground cavity. In this embodiment, the risk level areas are low-risk areas, medium-risk areas and high-risk areas. That is to say, according to the key factors affecting the risk level, such as the size of the cavity, the shape of the cavity and other influencing factors, the area to be tested is divided into high-risk areas, medium-risk areas and low-risk areas. For example, the division criteria for high-risk areas may be large cavity size, close distance to tunnels or underground pipelines, poor stability, etc.; the division criteria for medium-risk areas may be moderate cavity size, long distance to tunnels or underground pipelines, general stability, etc.; the division criteria for low-risk areas may be small cavity size, long distance to tunnels or underground pipelines, good stability, etc.

[0027] Subsequently, the positioning information of the communication towers in all the areas to be tested is obtained through the Beidou satellite system, that is, the Beidou satellite navigation system is used to accurately locate all the communication towers in the area to be tested and obtain their specific geographical location information. First, it is necessary to configure a receiving device capable of receiving Beidou satellite signals for each communication tower in the area to be tested, or a smart phone or smart terminal with Beidou positioning function to ensure that the receiving device can work normally. Next, the relevant parameters are correctly configured so that the positioning signals sent by Beidou satellites can be accurately received and decoded. Secondly, after the receiving device is installed on each communication tower, the device is started and the Beidou satellite signal is collected. The receiving device will receive signals from multiple Beidou satellites and obtain the precise location information of the communication tower through decoding and calculation. That is to say, the collected positioning data is processed and analyzed to extract the key location information such as the longitude, latitude, and altitude of the communication tower, and the positioning information of the communication towers in all the areas to be tested is obtained.

[0028] After obtaining the positioning information, the risk level area where each communication tower is located is determined based on the positioning information. That is to say, first, the precise location information of each tower is obtained using the Beidou satellite system, and then the risk level area of ​​the area to be tested is obtained, and the location information of each tower is combined with the risk level area to determine the map of the location of the communication tower in each risk level area. The map can clearly show the risk level area where each tower is located, as well as the boundaries and distribution between different level areas.

[0029] After determining the risk level area where each communication tower is located, the communication towers with primary risk warnings are determined through the risk level area where each communication tower is located, that is, by comparing the location information of each tower with the risk level area, the location of the communication tower in each risk level area is determined. And the communication towers in the medium risk area and the high risk area are determined, and the communication towers in the medium risk area and the high risk area can be regarded as the communication towers with primary risk warnings.

[0030] Then, the target monitoring points of all communication towers with primary risk warnings and the surface area monitoring points of the area to be tested are obtained. In this embodiment, the target monitoring points can be determined according to the specific tower type of the communication tower. For example, the target monitoring points can be key parts such as the top, middle and bottom of the communication tower. The surface area monitoring points can be set according to the risk level area where the communication tower is located. For example, the surface area monitoring points are set in the medium risk area and the high risk area.

[0031] For any communication tower, the first tower plane, the second tower plane and the third tower plane of the communication tower are determined, and the fault type of the communication tower is determined according to the first tower plane, the second tower plane and the third tower plane of the communication tower. In this embodiment, the first tower plane can be the tower base plane of the communication tower, and the second tower plane and the third tower plane can be the tower body plane of the communication tower. Any communication tower can be mapped to a three-dimensional space coordinate system to obtain the first tower plane, the second tower plane and the third tower plane. After obtaining the first tower plane, the second tower plane and the third tower plane, the fault type of the communication tower is determined by judging the angle between the first tower plane and the second tower plane and the third tower plane.

[0032] Based on the BeiDou satellite system, the tower monitoring data of the communication tower and the dynamic surface change data of the risk level area are determined. First, the BeiDou satellite navigation system receiver is installed at the key positions of the communication tower, such as the top, middle and bottom of the tower. The receiver can receive the signal transmitted by the BeiDou satellite and calculate the precise position, speed and time information of the receiver. The receiver collects the change data of the communication tower and the risk level area, and obtains the precise coordinates and displacement change of each monitoring point of the communication tower.

[0033] Subsequently, through the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area, the high-risk level target monitoring point is determined among all the target monitoring points. In this embodiment, the high-risk level target monitoring point refers to the data where the tower monitoring data and the surface dynamic change data exceed the preset threshold value, and the preset threshold value can be determined according to the actual situation. The real-time monitoring conditions of the displacement, inclination, settlement, etc. on the communication tower can be determined through the tower monitoring data of the communication tower, and the dynamic change data of the surface deformation, settlement, cracks, etc. of each monitoring point can be determined through the surface dynamic change data, thereby determining the areas and communication towers where the surface deformation, settlement, cracks, and displacement, inclination, and settlement on the communication tower are greater than the preset threshold, thereby determining the high-risk level target monitoring point.

[0034] High-risk target communication towers are identified through high-risk target monitoring points, that is, real-time monitoring data of communication towers are collected from high-risk target monitoring points, including key indicators such as displacement, tilt, and settlement. Based on these monitoring data, abnormal changes in the monitoring data are analyzed to identify communication towers with possible high-risk factors, such as communication towers with structural damage, foundation settlement, etc. Communication towers with these phenomena are identified as high-risk target communication towers.

[0035] After obtaining the high-risk target communication tower, the fault type and the tower identification of the high-risk target communication tower are displayed in the computer, which can better show the fault type that the high-risk target communication tower will show, as well as the identification of the communication tower, so as to more clearly display the fault type and the location of the high-risk target communication tower.

[0036] By obtaining the point cloud data of the underground goaf of the target city and building a three-dimensional model, the underground cavity status of the target city can be accurately identified, which can provide basic data for subsequent risk assessment. According to the underground cavity status, the area to be tested can be divided into different risk level areas, which is helpful to take corresponding measures for different risk levels. By obtaining the positioning information of the communication tower through the Beidou satellite system and determining the risk level area where each tower is located, the communication tower with primary risk warning can be found in time, providing an important basis for subsequent monitoring and early warning. By determining the first tower plane, the second tower plane and the third tower plane of the communication tower, and determining the fault type based on these planes, the potential fault of the communication tower can be better identified, which is helpful to take timely measures for repair or replacement. By analyzing the tower monitoring data and the surface dynamic change data, the high-risk level target monitoring points are determined among all the target monitoring points, and the high-risk target communication towers are further determined, which is helpful to give priority to high-risk towers and ensure the stable operation of the communication network. The tower logo that displays the fault type and the high-risk target communication tower can intuitively display the evaluation results, which is convenient for relevant personnel to quickly understand and respond to risks.

[0037] In one implementation of this embodiment, the underground cavity state includes the underground cavity diameter, the underground cavity morphology and geological data. According to all the underground cavity states, the risk level area of ​​the area to be tested is determined, including: S210, determining geological data of the area to be measured through a preset geological database; S220, identifying edge features of the underground goaf through an edge recognition algorithm, and determining the diameter and shape of the underground cavity; S230, inputting geological data, underground cavity diameter and underground cavity morphology into a preset safety distance model to determine the geological thickness safety distance of the underground goaf; S240. Divide the area to be tested based on the geological thickness safety distance, and determine the low-risk area, medium-risk area and high-risk area of ​​the area to be tested, wherein the low-risk area, medium-risk area and high-risk area are used to characterize the risk level area.

[0038] The geological data of the area to be tested is determined through a preset geological database. Specifically, first, the specific location and area range of the area to be tested are determined. Based on the specific location and area range of the area to be tested, the geological data corresponding to the location of the area to be tested is determined in the preset geological database. The geological data include parameters such as the type, strength, and stability of the underlying geological rock formation.

[0039] Subsequently, the edge features of the underground goaf are identified by an edge recognition algorithm. First, physical detection methods such as geological radar, seismic exploration, and geoelectric method are used to obtain the reflected signal data of the underground structure, including the reflected signal of the underground cavity, the propagation time of the electromagnetic wave, and other information. Geological radar uses the propagation and reflection characteristics of high-frequency electromagnetic waves underground to detect underground structures by receiving reflected signals. When electromagnetic waves encounter the interface between underground media, reflection, refraction, and scattering will occur. The reflected signal carries the information of the underground medium. By analyzing these signals, the existence and characteristics of the underground goaf can be inferred. After obtaining the reflected signal data, the edge features of the underground goaf are determined by the edge recognition algorithm. In this embodiment, the edge recognition algorithm can be the Canny operator, which is an edge detection method widely used in the field of computer vision. Obtain an image of the underground goaf, and perform edge feature recognition on the image of the underground goaf through the edge recognition algorithm to determine the diameter and morphology of the underground cavity. The image of the underground goaf can be obtained by setting settlement observation points, regularly observing the settlement of the ground, and using the settlement data to generate a ground settlement map or a three-dimensional model to obtain the image of the underground goaf.

[0040] Another implementation method in this embodiment is to determine the diameter and shape of the underground cavity through the reflected signal of the geological radar. According to the distribution and intensity change of the reflected signal, the shape of the underground goaf can be analyzed. If the reflected signal presents a continuous and regular shape, the underground cavity may have a relatively regular shape, such as a circle, an ellipse, etc. If the reflected signal presents a discontinuous and irregular shape, the underground cavity may have a complex shape, such as an irregular polygon, a crack, etc.

[0041] After determining the underground cavity diameter and underground cavity morphology, the geological data, underground cavity diameter and underground cavity morphology are input into a preset safety distance model to determine the geological thickness safety distance of the underground goaf. In this embodiment, the preset safety distance model may be a neural network model. The geological data may include parameters such as the type, strength, and stability of the underground rock formation. That is to say, the data such as the type, strength, and stability of the underground rock formation, the underground cavity diameter and the underground cavity morphology are input into the preset neural network model, and the geological thickness safety distance corresponding to the geological data, the underground cavity diameter and the underground cavity morphology is output. For example, different geological data, underground cavity diameters and underground cavity morphologies correspond to geological thickness safety distances. After obtaining the geological thickness safety distance of the underground goaf, the area to be measured is divided according to the geological thickness safety distance to determine the low-risk area, medium-risk area and high-risk area. Among them, the geological thickness safety distance in the low-risk area is larger, the impact of the underground voids on the surrounding rock mass is smaller, and the possibility of geological disasters is lower; the geological thickness safety distance in the medium-risk area is moderate, the underground voids have a certain impact on the surrounding rock mass, and the possibility of geological disasters is medium; the geological thickness safety distance in the high-risk area is smaller, the underground voids have a significant impact on the surrounding rock mass, and the possibility of geological disasters is higher. According to the risk level standard and the calculation results of the geological thickness safety distance, the area to be tested is divided into low-risk area, medium-risk area and high-risk area. That is to say, the geological thickness safety distance is compared with the preset safety distance threshold to determine the risk level area of ​​the area to be tested. For example, the geological thickness safety distance of the target area is 50 meters, the preset safety distance threshold of the low-risk area is 100 meters to 150 meters, the preset safety distance threshold of the medium-risk area is 80 meters to 100 meters, and the preset safety distance threshold of the high-risk area is 80 meters to 50 meters. Therefore, the target area is a high-risk area.

[0042] By determining the risk level area of ​​the area to be tested through the status of all underground cavities, the risk of underground goaf areas can be assessed more accurately. Targeted safety measures can also be taken in a timely manner to reduce engineering risks, ensure the safety of personnel and equipment, improve the accuracy and scientificity of underground goaf risk assessment, and ensure the accuracy of communication tower failure prediction.

[0043] In one implementation of this embodiment, determining the risk level area where each communication tower is located based on the positioning information includes: S310, determining the tower base positioning coordinates of each communication tower through the positioning information; S320, calculating the tower base area of ​​each communication tower by locating the tower base coordinates of each communication tower; S330, comparing each tower base area with each risk level area, and determining a weight value of the tower base area of ​​each communication tower in each risk level area; S340: Compare the weight value with the preset risk area threshold to determine the risk level area where each communication tower is located.

[0044] Based on the positioning information, the risk level area where each communication tower is located is determined. First, the tower base positioning coordinates of each communication tower are determined through the positioning information. The tower base positioning coordinates of each communication tower can be determined through the positioning algorithm of the Beidou satellite system. The positioning algorithm of the Beidou satellite system is mainly based on the principle of geometric positioning, that is, the distance information between multiple satellites and user receivers is used to determine the specific position of the receiver by solving a group of equations, thereby determining the tower base positioning coordinates of each communication tower.

[0045] Secondly, the base area of ​​each communication tower is calculated by locating the base coordinates of each communication tower. Specifically, the base positioning coordinates of the communication tower are determined, and the shape of the base of the communication tower is determined according to the base positioning coordinates. The base area of ​​the communication tower is calculated according to the shape of the base. For example, the base of the communication tower is the base in the positive direction of the four tower corners. The side length of the base is determined by locating the four tower corners, and then the side lengths of the base are multiplied to obtain the area of ​​the base of the communication tower.

[0046] Compare each tower base area with each risk level area to determine the weight value of each communication tower base area in each risk level area. First, you need to obtain the total area of ​​each risk level area, which can be obtained from the geographic information system of the risk level area of ​​the area to be tested. Then, compare the tower base area of ​​each communication tower with the area of ​​the risk level area where it is located, and calculate the proportion of the tower base area in the area. The formula for calculating the tower base area ratio is as follows: Tower base area ratio = tower base area / risk level area By calculating the proportion of the base area of ​​each communication tower in each risk level area, a weight value of each tower in each risk level area can be obtained, and this weight value represents the proportion of the base area of ​​the tower in the area.

[0047] After obtaining the weight value of the tower base area of ​​each communication tower in each risk level area, the weight value is compared with the preset risk area threshold to determine the risk level area where each communication tower is located. That is to say, the weight value of each communication tower in different risk level areas is obtained by calculation, and the weight value of each tower is compared with the preset risk area threshold to determine the risk level area to which it belongs. If the weight value falls within the threshold interval of the low risk area, the tower is located in the low risk area; if the weight value falls within the threshold interval of the medium risk area, the tower is located in the medium risk area; if the weight value falls within the threshold interval of the high risk area, or exceeds the threshold of the high risk area, the tower is located in the high risk area. For example, the weight value of the tower base area of ​​the communication tower in a certain risk level area is 0.02, and the risk level area threshold interval is [0, 0.01] for low risk, [0.01, 0.05] for medium risk, and [0.05, 1] ​​for high risk. Since 0.02 falls within the threshold interval of the medium risk area, the communication tower is located in the medium risk area.

[0048] By determining the risk level area where each communication tower is located, the potential risk of each communication tower in different risk level areas can be assessed more accurately, the emergency response capability can be improved, the affected towers and areas can be quickly identified, effective emergency measures can be taken, and losses can be reduced.

[0049] In one implementation of this embodiment, before obtaining all target monitoring points of communication towers with primary risk warnings and surface area monitoring points of the area to be measured, it is also necessary to: S410, obtaining the type of each communication tower for which a primary risk warning exists; S420, setting a plurality of target monitoring points according to the type of each communication tower, and setting a surface area monitoring point in each area to be measured; S430, setting a Beidou satellite signal receiving device in each target monitoring point and each surface area monitoring point; S440, setting the monitoring points of Beidou satellite signal receiving devices in the target monitoring points and the surface area monitoring points as Beidou monitoring mobile stations; S450, installing a Beidou satellite signal receiving device in a preset position in the non-mined area; S460. The preset location of the Beidou satellite signal receiving device is set as the Beidou monitoring base station.

[0050] Before obtaining the target monitoring points of all communication towers with primary risk warnings and the surface area monitoring points of the area to be tested, first, it is necessary to obtain the type of each communication tower with primary risk warnings. The type of communication tower with primary risk warnings can be queried in the preset database. Fault risk monitoring of communication towers has a certain relationship with the structural characteristics of different communication towers. Therefore, it is necessary to obtain the type of each communication tower with primary risk warnings. Common types of communication towers include angle steel towers, single-tube towers, guyed towers and three-tube towers. Angle steel towers are assembled from angle steel and connected by bolts; single-tube towers are composed of a single steel tube; the tower body of a three-tube tower is composed of three steel tubes; and guyed towers are mainly composed of tower heads, columns and guy wires.

[0051] Subsequently, multiple target monitoring points are set according to the type of each communication tower, and surface area monitoring points are set in each area to be tested. Specifically, first, the types of communication towers with primary risk warnings are queried in the preset database, and the stress-bearing key points and connection structure key points of the tower structure corresponding to the communication tower are determined according to the type of the communication tower, and each stress-bearing key point and connection structure key point is used as a target monitoring point. In this embodiment, the target monitoring point is a monitoring point for monitoring the failure of the communication tower. Secondly, surface area monitoring points are set in the risk level area of ​​each area to be tested. They can be set according to the risk level of different areas. For example, the number of monitoring points in the low-risk area can be relatively small, but it should be ensured that the entire area can be covered so as to detect abnormal situations in time; the number of monitoring points in the medium-risk area should be appropriately increased to cover the area more comprehensively and improve the accuracy and reliability of monitoring; the number of monitoring points in the high-risk area should be significantly increased to ensure intensive monitoring of potential risks.

[0052] After setting the target monitoring points and surface area monitoring points, a Beidou satellite signal receiving device is set in each target monitoring point and each surface area monitoring point. The Beidou satellite signal receiving device is a device used to receive and decode Beidou navigation satellite signals. The Beidou satellite navigation system has the ability to transmit data in real time, which can realize real-time monitoring of surface deformation and communication tower failures, and detect abnormal situations in time.

[0053] The monitoring points where Beidou satellite signal receiving devices are set up in the target monitoring points and the surface area monitoring points are used as Beidou monitoring mobile stations. Beidou monitoring mobile stations are an important part of the Beidou satellite navigation system in ground applications. They use Beidou satellite signals for high-precision positioning and monitoring. That is to say, Beidou satellite signal receiving devices are set up in the target monitoring points and the surface area monitoring points to use the high-precision positioning function of the Beidou satellite system to monitor the changes of these monitoring points in real time. Specifically, the mobile station receives signals from multiple Beidou satellites and uses the timestamps and satellite position information in these signals to calculate its own precise position.

[0054] Next, a Beidou satellite signal receiving device is set in a preset position in a non-mined area. A non-mined area refers to an area that has not been mined or has been mined and processed and restored. It is opposite to a mined area, which is an area where the underground has been mined and a cavity has been formed. In this embodiment, the preset position is a specific position that has been determined based on monitoring requirements, geological conditions, equipment performance and other factors before the Beidou satellite signal receiving device is set. That is to say, in a non-mined area suitable for monitoring or equipment setting, a specific location is selected, and a Beidou satellite signal receiving device is installed at this location to receive the signal of the Beidou satellite navigation system. Through this receiving device, the geological changes, displacement and other information of the location can be monitored in real time, providing data support for geological safety monitoring, disaster warning, etc.

[0055] The preset location where the Beidou satellite signal receiving device is set up is used as the Beidou monitoring base station. The Beidou monitoring base station is a ground fixed observation station that conducts long-term continuous observation of the Beidou satellite navigation signal and transmits the observation data to the data center in real time or at a fixed time through communication facilities. It can eliminate the errors of the satellite navigation system itself and the satellite signal transmission through the long-term continuous reception and analysis and processing of the satellite navigation positioning signal, and provide users with high-precision location services. In other words, the monitoring point where the Beidou satellite signal receiving device is set up in the preset location is used as the Beidou monitoring base station.

[0056] By setting up BeiDou monitoring base stations and BeiDou monitoring mobile stations, it is possible to monitor the geological changes of the tower and its surrounding areas in real time, discover potential risks in a timely manner, and provide strong guarantees for the safe operation of communication infrastructure. It also improves the accuracy and reliability of geological monitoring and provides strong support for geological disaster early warning.

[0057] In one implementation of this embodiment, multiple target monitoring points are set according to the type of each communication tower, including: S510, determining the tower structure corresponding to the type of each communication tower in a preset database; S520, analyzing the stress characteristics of the tower structure of each communication tower to determine the stress key points of the tower structure of each communication tower; S530, analyzing the structural characteristics of the tower structure of each communication tower to determine the key points of the connection structure of the tower structure of each communication tower; S540. Set all stress-bearing key points and connection structure key points as target monitoring points.

[0058] According to the type of each communication tower, multiple target monitoring points are set. Specifically, first, the tower structure corresponding to the type of each communication tower is determined in the preset database, that is, the specific type of the communication tower is determined in the preset database. Fault risk monitoring of communication towers has a certain relationship with the structural characteristics of different communication towers. Therefore, it is necessary to obtain the type of each communication tower with primary risk warning. Common types of communication towers include angle steel towers, single-tube towers, wire towers and three-tube towers. Angle steel towers are assembled from angle steel and connected by bolts; single-tube towers are composed of a single steel tube; the tower body of the three-tube tower is composed of three steel tubes; and the wire tower is mainly composed of a tower head, a column and a guy wire.

[0059] Secondly, the stress characteristics of the tower structure of each communication tower are analyzed to determine the key stress points of the tower structure of each communication tower. In other words, the key stress points of the communication tower are determined according to the structural type of the communication tower. For example, the angle steel tower is assembled from angle steel and connected by bolts. The main stress-bearing component is the angle steel. The connection between the angle steels and the connection between the angle steels and the foundation are the key points of force transmission. In addition, due to the high height, it is greatly affected by wind loads and seismic loads. The top of the tower is the area where stress is concentrated, and the bottom of the tower bears the weight and horizontal load of the entire tower, which is also an important stress area.

[0060] Subsequently, the structural characteristics of the tower structure of each communication tower are analyzed to determine the key points of the connection structure of the tower structure of each communication tower. That is to say, according to the structural type of the communication tower, the key points of the connection structure corresponding to different types of communication towers are determined. For example, the guyed tower is composed of a tower head, a column and a guy wire. It cannot stand independently and needs the support of the guy wire. The key points of the connection structure of the guyed tower are the column connection part, the guy wire connection part and the foundation connection. The connection between the columns needs to ensure the stability and bearing capacity of the overall structure. The connection between the guy wire and the column needs to ensure the tension and stability of the guy wire to prevent the tower body from tilting or collapsing due to loosening or breaking of the guy wire. The foundation connection of the guyed tower needs to ensure that the tower body can stably withstand various loads and prevent the tower body from tilting due to foundation settlement or damage. Therefore, the key points of the connection structure of the guyed tower are the column connection part, the guy wire connection part and the foundation connection.

[0061] All stress-bearing key points and all connection structure key points are taken as target monitoring points. In other words, stress-bearing key points bear the main load in the communication tower structure and are the focus of monitoring. Connection structure key points play the role of transferring load and maintaining overall stability in the communication tower and are also the focus of monitoring. Therefore, all stress-bearing key points and all connection structure key points are taken as target monitoring points.

[0062] Determination of target monitoring points for communication towers can significantly improve the pertinence and accuracy of monitoring, enhance the safety and stability of communication tower structures, optimize maintenance plans and resource allocation, and reduce maintenance costs and risks. This is of great significance for ensuring the normal operation of communication towers and the stability of wireless communication networks.

[0063] In one implementation manner of this embodiment, determining a first tower plane, a second tower plane, and a third tower plane of a communication tower, and determining a fault type of the communication tower according to the first tower plane, the second tower plane, and the third tower plane of the communication tower includes: S610, for any communication tower, respectively map all target monitoring points in the tower base, tower body and tower top of the communication tower to a three-dimensional space coordinate system, and determine the three-dimensional space coordinate points of all target monitoring points of the communication tower; S620, determining a first tower plane of the communication tower through the three-dimensional space coordinate points of the tower base; S630, determining a second tower plane of the communication tower through two target monitoring points in the tower body and one target monitoring point in the tower base, wherein the two target monitoring points in the tower body and the one target monitoring point in the tower base are three non-collinear monitoring points; S640, determining a third tower plane of the communication tower through a target monitoring point in the tower tip and two target monitoring points in the tower body, wherein the target monitoring point in the tower tip and the two target monitoring points in the tower body are three non-collinear monitoring points; S650, determining whether the angle between the first tower plane and the second tower plane is less than or equal to a preset angle threshold of the communication tower in a normal state; S660: If the angle is less than a preset angle threshold, determine the first fault type of the communication tower; S670: If the angle is equal to the preset angle threshold, determine whether the angle between the first tower plane and the third tower plane is less than the preset angle threshold of the communication tower in a normal state; S680: If the angle is less than a preset angle threshold, determine the second fault type of the communication tower.

[0064] Figure 2 A schematic diagram of the state type of a communication tower provided in an embodiment of the present application, such as Figure 2As shown in the figure, AB represents the first tower plane of the communication tower, DA represents the second tower plane of the communication tower, and DC represents the third tower plane of the communication tower.

[0065] For any communication tower, all target monitoring points in the tower base, tower body and tower top are mapped to the three-dimensional space coordinate system to determine the three-dimensional space coordinate points of all target monitoring points of the communication tower. Specifically, first, a suitable three-dimensional space coordinate system needs to be established. The center point of the tower base is taken as the origin, the two orthogonal axes in the horizontal direction (such as the east-west direction and the south-north direction) are the X-axis and the Y-axis, and the vertical direction is the Z-axis. In the three-dimensional space coordinate system, the three-dimensional space coordinate points of all target monitoring points are determined, that is, the three-dimensional space coordinate points of all stress-bearing key points and all connection structure key points are determined.

[0066] After determining the three-dimensional spatial coordinate points of all the key stress points and all the key points of the connecting structure of the communication tower, the first tower plane of the communication tower is determined through the three-dimensional spatial coordinate points of the tower base. In this embodiment, the first tower plane refers to a plane composed of the three-dimensional spatial coordinates of at least three non-collinear points on the tower base of the communication tower. In other words, it is necessary to obtain the three-dimensional spatial coordinates of at least three non-collinear points on the tower base, which can be the corner points, center points or any three-dimensional spatial coordinate points in the tower base. The three-dimensional spatial coordinate points can be obtained by high-precision measuring instruments, such as total stations, GPS positioning systems or laser rangefinders. In three-dimensional space, a plane can be determined by a point on it and the normal vector of the plane. The normal vector can be obtained by calculating the cross product of two vectors on the plane. For example, three points A (x1, y1, z1), B (x2, y 2， z2) and C(x3, y3, z3), can be calculated by vectors AB and AC; Among them, vector AB=(x2-x1, y2-y1, z2-z1); vector AC=(x3-x1, y3-y1, z3-z1); Then find the cross product of AB and AC to get the normal vector. The result of the cross product represents the plane perpendicular to the original two vectors. With the normal vector n1 and a point on the plane, we can get the point normal equation of the plane, as shown below:

[0067] in, , , are the components of the normal vector, (x0, y0, z0) is any point on the plane; The point normal equation of the plane represents the plane passing through point A and having a normal vector n1. The first tower plane of the communication tower is determined by the point normal equation of the plane.

[0068] Subsequently, the second tower plane of the communication tower is determined by two target monitoring points in the tower body and one target monitoring point in the tower base. In this embodiment, the two target monitoring points in the tower body and the one target monitoring point in the tower base are three non-collinear monitoring points. The second tower plane refers to a plane formed by the three-dimensional spatial coordinates of a point on the tower base of the communication tower and the three-dimensional spatial coordinates of two points on the tower body. First, obtain the three-dimensional spatial coordinates of the two target monitoring points in the tower body, recorded as point M and point N, and then obtain the three-dimensional spatial coordinates of a target monitoring point in the tower base, recorded as point K, and these three points M, N, and K are not collinear. Using the coordinates of the three selected points, calculate two vectors. For example, vector AB can be obtained by subtracting the coordinates of point B from the coordinates of point A, and the same is true for vector AC.

[0069] Vector AB = (Bx-Ax, By-Ay, Bz-Az); Vector AC = (Cx-Ax, Cy-Ay, Cz-Az); Among them, (Ax, Ay, Az), (Bx, By, Bz) and (Cx, Cy, Cz) are the coordinates of points A, B, and C respectively.

[0070] Then, the normal vector n is calculated from the vector AB and the vector AC as follows: Normal vector n2 = vector AB × vector AC; Given the normal vector n2 and a point on the plane, we can write the point normal equation of the plane:

[0071] in, , , are the components of the normal vector, (Ax, Ay, Az) for any point on the plane; This equation represents a plane passing through point A and with normal vector n. The second tower plane of the communication tower is determined by the point normal equation of the plane.

[0072] Similarly, the third tower plane of the communication tower is determined by one target monitoring point in the tower tip and two target monitoring points in the tower body. In this embodiment, one target monitoring point in the tower tip and two target monitoring points in the tower body are three non-collinear monitoring points. When determining the second fault type in this embodiment, two target monitoring points in the tower body are selected, which is only applicable to the two target monitoring points in Figure 2The scene within the CD segment of the second fault type in the communication tower; the third tower plane refers to the plane formed by the three-dimensional spatial coordinates of a point in the spire of the communication tower and the three-dimensional spatial coordinates of two points in the tower body of the communication tower. First, obtain the three-dimensional spatial coordinates of the two target monitoring points in the tower body, which can be recorded as points D and F, and then obtain the three-dimensional spatial coordinates of a target monitoring point in the spire, recorded as point G, and these three points D, F, and G are not collinear. Using the coordinates of the three selected points, calculate two vectors. For example, vector DF can be obtained by subtracting the coordinates of point F from the coordinates of point D, and the same is true for vector DG. Subsequently, the normal vector n3 is calculated by vector DF and vector DG to obtain the point normal equation of the plane and determine the third tower plane of the communication tower.

[0073] After the first tower plane, the second tower plane and the third tower plane of the communication tower are determined, it is determined whether the angle between the first tower plane and the second tower plane is less than or equal to the preset angle threshold of the communication tower in a normal state. In this embodiment, the preset angle threshold can be determined according to the actual situation of the communication tower. That is to say, Figure 2 As shown, it is determined whether the angle between the plane of the tower base of the communication tower and the plane of the tower body, that is, whether the ∠CAB of the communication tower is less than or equal to the preset angle threshold of the communication tower in a normal state.

[0074] If the angle is less than the preset angle threshold, the first fault type of the communication tower is determined. In the present embodiment, the first fault type refers to a fault in which there is no connection fault at the tower body connection of the communication tower but the tower body is tilted. That is to say, when the ∠CAB of the communication tower is less than the preset angle threshold, it means that the angle between the plane of the tower base of the current communication tower and the plane of the tower body is less than the angle between the plane of the tower base of the communication tower and the plane of the tower body under normal conditions. At this time, the communication tower may be tilted, and the communication tower has the first fault type.

[0075] If the angle is equal to the preset angle threshold, that is, the ∠CAB of the communication tower is equal to the preset angle threshold of the communication tower under normal conditions, it means that the base of the communication tower is not tilted. At this time, it is necessary to determine whether the angle between the first tower plane and the third tower plane is less than the preset angle threshold of the communication tower under normal conditions. In other words, to determine whether there is a fault at the tower connection of the communication tower, it can be determined by determining whether the angle between the first tower plane and the third tower plane is less than the preset angle threshold of the communication tower under normal conditions. Figure 2As shown, when the tower base does not have a tilt fault, it is determined whether the angle ∠CEB formed between the first tower plane AB of the tower base and the third tower plane DC of the tower body is smaller than the angle ∠DAB formed between the second tower plane and the first tower plane. When ∠CEB is smaller than ∠DAB, it indicates that a connection fault occurs at the tower body connection of the communication tower, that is, the angle is smaller than the preset angle threshold, and the second fault type of the communication tower is determined. In this embodiment, the second fault type is the fault type that occurs at the tower body connection of the communication tower.

[0076] By detecting the fault of the communication tower, the tilt or deformation of the communication tower can be effectively detected, so as to find out the potential fault in time. This is of great significance for maintaining the safety and stability of the communication tower.

[0077] In one implementation of this embodiment, based on the Beidou satellite system, determining the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area includes: S701, obtaining the transmission time of the satellite signal between the Beidou satellite and the Beidou monitoring base station; S702, determining a first observation distance between the Beidou satellite and the Beidou monitoring reference station by multiplying the transmission time by the speed of light; S703, determining the first carrier phase of the Beidou satellite sending the satellite signal to the Beidou monitoring reference station through the carrier phase measurement technology; S704, calculating a second observation distance between the Beidou satellite and the Beidou monitoring reference station based on the first carrier phase; S705, taking the difference between the first observation distance and the second observation distance as a difference correction number; S706, sending the differential correction number to the Beidou monitoring mobile station, wherein the differential correction number is sent to the Beidou monitoring mobile station by sending it through a correction satellite; S707, determining, by carrier phase measurement technology, a second carrier phase of a satellite signal sent by a correction satellite to a Beidou monitoring mobile station; S708, determining the measurement distance between the Beidou monitoring mobile station and the correction satellite by performing differential calculation with the differential correction number and the second carrier phase; S709, obtaining the coordinates of the Beidou monitoring mobile station by measuring the distance; S710. Determine the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area through the coordinates.

[0078] Based on the Beidou satellite system, the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area are determined. First, the transmission time of the satellite signal between the Beidou satellite and the Beidou monitoring base station is obtained. High-precision timing equipment, such as atomic clocks, can be installed at the Beidou monitoring base station to ensure the accuracy of the timestamp of the received satellite signal. When the base station receives the satellite signal, it records the timestamp of the signal arrival and the timestamp of the transmitted signal to determine the transmission time of the satellite signal.

[0079] After determining the transmission time of the satellite signal, the first observation distance between the Beidou satellite and the Beidou monitoring base station is determined by multiplying the transmission time by the speed of light. That is, the first observation distance between the Beidou satellite and the Beidou monitoring base station is calculated using distance = speed × time. The transmission time of the satellite signal is multiplied by the speed of light to obtain the first observation distance. In this embodiment, the first observation distance refers to the geometric distance between the satellite signal received by the Beidou monitoring base station and the base station.

[0080] Next, the first carrier phase of the Beidou satellite sending satellite signals to the Beidou monitoring base station is determined through carrier phase measurement technology. Carrier phase measurement technology is a technology and method that uses the receiver to measure the carrier phase observation value or its differential observation value, and obtains the baseline vector coordinate difference between two synchronous observation stations through baseline vector solution. When the receiver receives and tracks the carrier signal transmitted by the satellite, it involves the delay locking of the pseudo-random code and the phase locking of the phase-locked loop. Once the phase lock is successful, the phase of the local signal of the receiver is the same as the phase of the satellite carrier signal. At this time, the difference between the local signal phase of the receiver and the initial phase is the carrier phase observation, thereby determining the first carrier phase of the Beidou satellite sending satellite signals to the Beidou monitoring base station.

[0081] After determining the first carrier phase, the second observation distance between the Beidou satellite and the Beidou monitoring base station is calculated based on the first carrier phase. In this embodiment, the second observation distance refers to the use of carrier phase measurement data to calculate the distance between the satellite and the receiver. First, the integer ambiguity problem needs to be solved, that is, the integer number part in the carrier phase observation value needs to be determined. The method of quickly determining the integer ambiguity can be used. The method of quickly determining the integer ambiguity is a method of quickly solving the integer ambiguity using a mathematical algorithm. It is based on the linear combination of carrier phase observation values ​​and the principle of least squares adjustment. After solving the integer ambiguity problem, the carrier phase measurement data can be used to calculate the distance between the satellite and the receiver. The distance calculation formula is usually:

[0082] in, Indicates the distance between the satellite and the receiver, that is, the second observation distance; represents the carrier wavelength, and represent the carrier phase at the satellite and the receiver respectively.

[0083] Subsequently, the difference between the first observation distance and the second observation distance is used as the differential correction number. In this embodiment, the differential correction number is obtained by subtracting the first observation distance from the second observation distance. That is to say, due to the existence of various error sources (such as satellite clock error, atmospheric delay, etc.), the first observation distance may not be accurate enough. Using the carrier phase measurement technology, a more accurate distance, namely the second observation distance, can be obtained. The first observation distance is subtracted from the second observation distance to obtain a difference, which reflects the distance difference caused by various error sources (such as satellite clock error, atmospheric delay, etc.). The differential correction number will be used for subsequent positioning correction.

[0084] The differential correction number is sent to the Beidou monitoring mobile station, wherein the differential correction number is sent to the Beidou monitoring mobile station through the correction satellite, that is, the differential correction number is sent to the Beidou monitoring mobile station in real time so that the Beidou monitoring mobile station can use these correction numbers to correct its own observation results, thereby improving the positioning accuracy. The differential correction number can be sent to the Beidou monitoring mobile station through the correction satellite, and the correction satellite can act as a relay station to transmit the differential correction number from the base station to the mobile station. In addition, the differential correction number can also be transmitted through a dedicated data link (such as radio waves, mobile communication networks, satellite communications, etc.).

[0085] After the differential correction number is sent to the Beidou monitoring mobile station, the second carrier phase of the satellite signal sent by the correction satellite to the Beidou monitoring mobile station is determined through carrier phase measurement technology. Similar to the Beidou monitoring base station, the Beidou monitoring mobile station will also record the carrier phase of the satellite signal sent by the correction satellite when it arrives, which is called the second carrier phase. This phase information will be used for subsequent positioning calculations.

[0086] Subsequently, the differential correction number and the second carrier phase are used to perform differential calculation to determine the measured distance between the Beidou monitoring mobile station and the correction satellite. In other words, using the differential correction number and the second carrier phase, the Beidou monitoring mobile station can perform differential calculation to eliminate or reduce the influence of the common error source. Using the corrected carrier phase observation value and the known satellite position information, the measured distance between the Beidou satellite and the Beidou monitoring mobile station is calculated through a mathematical model.

[0087] After obtaining the measured distance between the Beidou satellite and the Beidou monitoring mobile station, the coordinates of the Beidou monitoring mobile station are obtained by measuring the distance. That is to say, combining the known satellite position and the measured distance, the precise coordinates of the mobile station can be calculated through a mathematical model. This coordinate is the accurate data of the current position of the Beidou monitoring mobile station.

[0088] With the precise coordinates of the BeiDou monitoring mobile station, the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area can be determined. For example, in the communication tower monitoring, the coordinates of the BeiDou monitoring mobile station can be used to determine the location and status of the tower; in the risk level area monitoring, the coordinates of the BeiDou monitoring mobile station can be used to monitor the surface dynamic change data (such as terrain changes, subsidence, etc.), so as to assess potential risks.

[0089] By using the BeiDou satellite system to determine the tower monitoring data of communication towers and the dynamic change data of the surface in risk-level areas, real-time monitoring of communication towers and dynamic changes of the surface can be achieved, and potential safety hazards can be discovered in time. Based on the monitoring data, the system can automatically issue early warnings and alarms to remind relevant personnel to take timely measures for maintenance and processing.

[0090] In one implementation of this embodiment, the method further includes: S810, obtaining the base coordinates of any communication tower body; S820, determining whether the tower base coordinates have changed in a preset time period; S830: If the tower base coordinates do not change in value within a preset time period, obtain the first coordinates of the first target monitoring point in the tower body at the first moment; S840, obtaining a second coordinate of the first target monitoring point at a second moment; S850, using the first coordinate and the second coordinate, using the preset offset, settlement and inclination value formulas, respectively calculate the horizontal offset, vertical settlement and inclination value of the first target monitoring point in the time period from the first moment to the second moment; S860: if the tower base coordinates change in value within a preset time period, obtain the third coordinates of the second target monitoring point in the tower body at the first moment and the fourth coordinates of the third target monitoring point; S870, acquiring a fifth coordinate of the second target monitoring point and a sixth coordinate of the third target monitoring point at the second moment; S880, using the third coordinate and the fifth coordinate, using the preset offset, settlement and inclination value formulas, respectively calculate the horizontal offset, vertical settlement and inclination value of the second target monitoring point in the time period from the first moment to the second moment; S890. Calculate the horizontal offset, vertical settlement and inclination value of the third target monitoring point in the time period from the first moment to the second moment respectively by using the fourth coordinate and the sixth coordinate and using the preset offset, settlement and inclination value formulas.

[0091] First, the base coordinates of any communication tower can be obtained through GPS measurement, total station measurement, laser rangefinder, etc. The satellite signal received by GPS can be used to calculate the precise position of the tower, including longitude, latitude and altitude. The total station is a high-precision measuring instrument that can be used to measure the three-dimensional coordinates of the tower.

[0092] Next, it is determined whether the tower base coordinates have changed in a preset time period. The preset time period can be determined according to the actual situation. That is, the coordinate measurement is repeated at different time points in the preset time period to obtain the coordinate data of multiple time points. The tower base coordinates of the communication tower body at multiple time points are used to determine whether the coordinates have changed in the preset time period.

[0093] If the tower base coordinates do not change in value within a preset time period, the first coordinates of the first target monitoring point in the tower body at the first moment are obtained. In this embodiment, the first target monitoring point can be any monitoring point in the tower body of the communication tower. That is to say, when the tower base coordinates of the communication tower body do not change at multiple time points, the coordinate point of any monitoring point in the tower body of the communication tower is selected, that is, the first coordinate. In this embodiment, the first coordinate refers to the coordinate point of the first target monitoring point at the first moment.

[0094] After determining the first coordinate, obtain the second coordinate of the first target monitoring point at the second moment, and measure the coordinate of the same first target monitoring point again at the second moment at the end of the preset time period. This coordinate will be used to compare with the first coordinate to calculate the offset, settlement and tilt value. In this embodiment, the second coordinate refers to the coordinate point of the first target monitoring point at the second moment.

[0095] Through the first coordinate and the second coordinate, using the preset offset, settlement and inclination value formula, the horizontal offset, vertical settlement and inclination value of the first target monitoring point in the time period from the first moment to the second moment are calculated respectively, that is, through the preset offset, settlement and inclination value formula, the horizontal offset, vertical settlement and inclination value of the communication tower are calculated. The preset offset formula is as follows:

[0096] in, Indicates the horizontal offset; represents the first coordinate at the first moment; represents the second coordinate at the second moment; The preset settlement formula is as follows:

[0097] in, Indicates the vertical settlement; and Represents the value of the axis perpendicular to the xy plane of the first target monitoring point in the three-dimensional coordinate system at the first moment and the second moment respectively; The preset tilt value formula is as follows:

[0098] in, Indicates the tilt value, Indicates the amount of inclination; H is the height between the first target monitoring point and the tower ground; The formula for the tilt amount is as follows:

[0099] in, Indicates the horizontal offset; Indicates the amount of tilt; Indicates the vertical settlement; The horizontal offset, vertical settlement and inclination value of the first target monitoring point in the time period from the first moment to the second moment are calculated respectively by using the preset formulas for the offset, settlement and inclination value.

[0100] Next, if the tower base coordinates change in value within a preset time period, the third coordinates of the second target monitoring point in the tower body at the first moment and the fourth coordinates of the third target monitoring point are obtained. That is to say, when the tower base coordinates of the communication tower body change at multiple time points, the coordinates of any two monitoring points in the tower body of the communication tower are selected, namely, the third coordinates of the second target monitoring point and the fourth coordinates of the third target monitoring point. In this embodiment, the third coordinate refers to the coordinate point of the second target monitoring point at the first moment. The fourth coordinate refers to the coordinate point of the third target monitoring point at the first moment.

[0101] Subsequently, the fifth coordinate of the second target monitoring point at the second moment and the sixth coordinate of the third target monitoring point are obtained, that is, at the second moment, the coordinates of the second target monitoring point and the third target monitoring point are measured again. In this embodiment, the fifth coordinate refers to the coordinate point of the second target monitoring point at the second moment; the sixth coordinate refers to the coordinate point of the third target monitoring point at the second moment.

[0102] Through the third coordinate and the fifth coordinate, the preset offset, settlement and tilt value formulas are used to calculate the horizontal offset, vertical settlement and tilt value of the second target monitoring point in the time period from the first moment to the second moment. Similarly, according to the preset offset, settlement and tilt value formulas, the offset, settlement and tilt value of the second target monitoring point are calculated according to the difference between the third coordinate and the fifth coordinate.

[0103] Through the fourth coordinate and the sixth coordinate, the preset offset, settlement and tilt value formulas are used to calculate the horizontal offset, vertical settlement and tilt value of the third target monitoring point in the time period from the first moment to the second moment respectively. Similarly, according to the preset offset, settlement and tilt value formulas, the offset, settlement and tilt value of the third target monitoring point are calculated according to the difference between the fourth coordinate and the sixth coordinate.

[0104] By real-time monitoring of the coordinates of the tower base and the coordinate changes of the monitoring points inside the tower, potential risks can be discovered and warned in a timely manner, improving monitoring efficiency and accuracy, and providing data support for tower maintenance and management, thereby ensuring the stability and security of the communication network.

[0105] The present application provides a machine-readable storage medium, the instructions of which are used to enable a machine to execute the above-mentioned intelligent monitoring and fault warning method for communication towers.

[0106] The present application also provides an intelligent monitoring and fault warning method and system for a communication tower, including: a memory configured to store instructions; and The processor is configured to call instructions from the memory and implement the above-mentioned intelligent monitoring and fault warning method for communication towers when executing the instructions.

[0107] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment or an embodiment combining software and hardware. Moreover, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0108] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0109] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0110] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0111] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0112] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0113] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0114] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0115] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. An intelligent monitoring and fault warning method for a communication tower, characterized in that: The method comprises: Obtain point cloud data of underground goaf areas in target cities and construct a three-dimensional model of underground goaf areas; Determine the underground cavity status of all the areas to be tested in the target city based on the three-dimensional model of the underground goaf; For any of the areas to be tested, determining a risk level area of ​​the area to be tested according to the underground cavity state; Using the Beidou satellite system to obtain the positioning information of all communication towers in the area to be tested; Based on the positioning information, determining the risk level area where each of the communication towers is located; Determine the communication towers with primary risk warnings through the risk level area where each communication tower is located; Acquire all target monitoring points of the communication towers and surface area monitoring points of the area to be measured that have primary risk warnings; For any one of the communication towers, determine the first tower plane, the second tower plane and the third tower plane of the communication tower, and determine the fault type of the communication tower according to the first tower plane, the second tower plane and the third tower plane of the communication tower; Based on the BeiDou satellite system, determining the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area; Determine a high-risk level target monitoring point among all the target monitoring points through the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area; Determine high-risk target communication towers through the high-risk level target monitoring points; The fault type and the tower identification of the high-risk target communication tower are displayed.

2. The method according to claim 1, characterized in that The underground cavity state includes underground cavity diameter, underground cavity morphology and geological data. The risk level area of ​​the area to be tested is determined according to all the underground cavity states, including: Determining the geological data of the area to be tested through a preset geological database; Identify the edge features of the underground goaf through an edge recognition algorithm, and determine the diameter and shape of the underground cavity; Inputting the geological data, the underground cavity diameter and the underground cavity morphology into a preset safety distance model to determine the geological thickness safety distance of the underground goaf; Based on the geological thickness safety distance, the area to be tested is divided to determine the low-risk area, medium-risk area and high-risk area of ​​the area to be tested, wherein the low-risk area, the medium-risk area and the high-risk area are used to characterize the risk level area.

3. The method according to claim 1, characterized in that: The step of determining the risk level area where each of the communication towers is located based on the positioning information includes: Determine the tower base positioning coordinates of each communication tower through the positioning information; Calculate the tower base area of ​​each communication tower by locating the tower base coordinates of each communication tower; Compare each of the tower base areas with each of the risk level areas, and determine the weight value of the tower base area of ​​each of the communication towers in each of the risk level areas; The weight value is compared with a preset risk area threshold to determine the risk level area where each communication tower is located.

4. The method according to claim 1, characterized in that: Before obtaining all the target monitoring points of the communication towers with primary risk warnings and the surface area monitoring points of the area to be measured, it is also necessary to: Obtaining the type of each communication tower for which a primary risk warning exists; Setting a plurality of target monitoring points according to the type of each communication tower, and setting a surface area monitoring point in each of the areas to be tested; A Beidou satellite signal receiving device is arranged in each of the target monitoring points and each of the surface area monitoring points; The monitoring points where Beidou satellite signal receiving devices are installed in the target monitoring points and the surface area monitoring points are used as Beidou monitoring mobile stations; The Beidou satellite signal receiving device is arranged in a preset position in a non-mined area; The preset position of the Beidou satellite signal receiving device is set as a Beidou monitoring base station.

5. The method according to claim 4, characterized in that The step of setting a plurality of target monitoring points according to the type of each communication tower includes: Determine in a preset database the tower structure corresponding to the type of each communication tower; Performing stress characteristic analysis on the tower structure of each communication tower to determine the stress key points of the tower structure of each communication tower; Performing structural characteristic analysis on the tower structure of each communication tower to determine the key points of the connection structure of the tower structure of each communication tower; All the key stress points and the key points of the connection structure are set as target monitoring points.

6. The method according to claim 4, characterized in that The determining of the first tower plane, the second tower plane and the third tower plane of the communication tower, and determining the fault type of the communication tower according to the first tower plane, the second tower plane and the third tower plane of the communication tower, comprises: For any of the communication towers, all target monitoring points in the tower base, tower body and tower top of the communication tower are mapped to a three-dimensional space coordinate system to determine the three-dimensional space coordinate points of all the target monitoring points of the communication tower; Determine the first tower plane of the communication tower through the three-dimensional space coordinate points of the tower base; Determine the second tower plane of the communication tower through the two target monitoring points in the tower body and the one target monitoring point in the tower base, wherein the two target monitoring points in the tower body and the one target monitoring point in the tower base are three non-collinear monitoring points; Determine a third tower plane of the communication tower through one of the target monitoring points in the tower tip and two of the target monitoring points in the tower body, wherein the one of the target monitoring points in the tower tip and the two of the target monitoring points in the tower body are three non-collinear monitoring points; Determine whether the angle between the first tower plane and the second tower plane is less than or equal to a preset angle threshold of the communication tower in a normal state; If the angle is less than a preset angle threshold, determining a first fault type of the communication tower; If the angle is equal to the preset angle threshold, determine whether the angle between the first tower plane and the third tower plane is less than the preset angle threshold of the communication tower in a normal state; If the angle is less than a preset angle threshold, the second fault type of the communication tower is determined.

7. The method according to claim 1, characterized in that The determining, based on the BeiDou satellite system, the tower monitoring data of the communication tower and the surface dynamic change data of the risk level area includes: Obtaining the transmission time of the satellite signal between the Beidou satellite and the Beidou monitoring reference station; Determining a first observation distance between the Beidou satellite and the Beidou monitoring reference station by multiplying the transmission time by the speed of light; Determining, by carrier phase measurement technology, a first carrier phase of the Beidou satellite sending the satellite signal to the Beidou monitoring reference station; Based on the first carrier phase, calculating a second observation distance between the Beidou satellite and the Beidou monitoring reference station; Taking the difference between the first observation distance and the second observation distance as a differential correction number; Sending the differential correction number to the Beidou monitoring mobile station, wherein the sending of the differential correction number to the Beidou monitoring mobile station is via a correction satellite; Determining, by carrier phase measurement technology, a second carrier phase of the correction satellite sending the satellite signal to the Beidou monitoring mobile station; Determine the measurement distance between the Beidou monitoring mobile station and the correction satellite by performing differential calculation based on the differential correction number and the second carrier phase; Obtaining the coordinates of the Beidou monitoring mobile station by measuring the distance; The tower monitoring data of the communication tower and the surface dynamic change data of the risk level area are determined through the coordinates.

8. The method according to claim 7, characterized in that The method further comprises: Obtaining the tower base coordinates of any one of the communication tower bodies; Determine whether the tower base coordinates have a numerical change within a preset time period; If the tower base coordinates do not change in value within a preset time period, obtaining the first coordinates of the first target monitoring point in the tower body at the first moment; Acquire a second coordinate of the first target monitoring point at a second moment; By using the first coordinate and the second coordinate, using the preset offset, settlement and inclination value formulas, respectively calculate the horizontal offset, vertical settlement and inclination value of the first target monitoring point in the time period from the first moment to the second moment; If the tower base coordinates change in value within a preset time period, obtaining the third coordinates of the second target monitoring point in the tower body at the first moment and the fourth coordinates of the third target monitoring point; Acquire the fifth coordinate of the second target monitoring point and the sixth coordinate of the third target monitoring point at the second moment; By using the third coordinate and the fifth coordinate, the horizontal offset, vertical settlement and inclination value of the second target monitoring point in the time period from the first moment to the second moment are calculated respectively by using the preset offset, settlement and inclination value formulas; The fourth coordinate and the sixth coordinate are used to calculate the horizontal offset, vertical settlement and inclination value of the third target monitoring point in the time period from the first moment to the second moment respectively using the preset offset, settlement and inclination value formulas.

9. A machine-readable storage medium, characterized in that: The machine-readable storage medium stores instructions for enabling a machine to execute the intelligent monitoring and fault warning method for a communication tower according to any one of claims 1 to 8.

10. An intelligent monitoring and fault warning system for communication towers, characterized in that: include: a memory configured to store instructions; as well as The processor is configured to call the instruction from the memory and implement the intelligent monitoring and fault warning method for a communication tower according to any one of claims 1 to 8 when executing the instruction.

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