Transmission tower settlement monitoring method and system based on Beidou positioning

Abstract

The invention discloses a Beidou positioning-based power transmission tower settlement monitoring method and system, and relates to the technical field of tower monitoring, and the method comprises the steps: obtaining a settlement change degree data set and an inclination change degree data set of a power transmission tower based on each environment influence factor, and constructing a settlement and inclination change degree evaluation model according to the data set, the attitude stability index of the power transmission tower is obtained; based on the evaluation result of the attitude stability index, identifying the attitude abnormal change of the transmission tower in real time, and presetting an early warning threshold; and generating early warning information based on the preset early warning threshold value, dividing at least two groups of risk levels, and tracking the attitude abnormal change of the transmission tower in real time so as to adjust the corresponding risk level in real time for matching. The settlement and inclination change of the power transmission tower can be accurately monitored in real time, and early warning and response can be carried out according to the risk level.

Description

Technical Field

[0001] The present invention relates to the technical field of pole and tower monitoring, and particularly to a method and system for monitoring the settlement of transmission poles and towers based on Beidou positioning. Background Art

[0002] As an important part of the power system, the safe and stable operation of transmission poles and towers is crucial for ensuring power supply. However, during the long-term operation of transmission poles and towers, they are affected by various environmental factors, such as geological settlement, water level change, climate conditions, etc., which may cause settlement and inclination, thereby affecting their structural safety and the reliability of the power system.

[0003] Traditional methods for monitoring the settlement of transmission poles and towers mainly rely on manual inspections and regular measurements, which have problems such as low efficiency, high cost, and discontinuous data collection. In recent years, with the development of Beidou satellite navigation technology, settlement monitoring methods based on Beidou positioning have gradually emerged, but their accuracy and environmental adaptability still need to be further improved. Summary of the Invention

[0004] In view of the problems existing in the above or prior art, the present invention is proposed.

[0005] Therefore, the object of the present invention is to provide a method for monitoring the settlement of transmission poles and towers based on Beidou positioning, which can monitor the real-time and accurate settlement and inclination changes of transmission poles and towers, and can give early warnings and responses according to the risk level, effectively ensuring the safe and stable operation of transmission poles and towers, and having significant economic and social benefits.

[0006] To solve the above technical problems, the present invention provides the following technical solution: A method for monitoring the settlement of transmission poles and towers based on Beidou positioning, which includes obtaining a dataset of settlement change degrees and a dataset of inclination change degrees of transmission poles and towers under various environmental impact factors, and constructing an evaluation model of settlement and inclination change degrees based on this to obtain the attitude stability index of the transmission poles and towers;

[0007] Based on the evaluation result of the attitude stability index, the abnormal attitude changes of the transmission poles and towers are identified in real time and a preset warning threshold is set;

[0008] Based on the preset warning threshold, a warning message is generated, and at least two groups of risk levels are divided, and the abnormal attitude changes of the transmission poles and towers are tracked in real time to adjust the corresponding risk levels in real time for matching.

[0009] As a preferred embodiment of the method for monitoring the settlement of transmission poles and towers based on Beidou positioning of the present invention, wherein: obtaining a dataset of settlement change degrees and a dataset of inclination change degrees of transmission poles and towers under various environmental impact factors specifically includes the following steps:

[0010] Obtain the current spatial position data of the transmission tower based on the first positioning unit;

[0011] Obtain at least one set of initial spatial position data of the transmission tower based on at least one second positioning unit;

[0012] Obtain the error values based on single-point positioning of the current spatial position data and the initial spatial position data;

[0013] Perform a first correction action on the current spatial position data based on the error values.

[0014] As a preferred solution of the transmission tower settlement monitoring method based on Beidou positioning of the present invention, wherein: obtain the settlement change degree data set and the tilt change degree data set of the transmission tower under various environmental influence factors, and specifically further include the following steps:

[0015] Obtain at least two sets of initial spatial position data of the transmission tower based on at least two second positioning units;

[0016] Obtain the error value set based on single-point positioning of the current spatial position data after the first correction action and each initial spatial position data;

[0017] Perform a weighted average calculation on each error value to obtain the optimal error value that eliminates the influence of environmental factors;

[0018] Perform a second correction action on the current spatial position data after the first correction action based on the optimal error value.

[0019] As a preferred solution of the transmission tower settlement monitoring method based on Beidou positioning of the present invention, wherein: obtain the settlement change degree data set and the tilt change degree data set of the transmission tower under various environmental influence factors, and specifically further include the following steps:

[0020] Convert the spatial position data after the second correction action at any moment and at least one set of initial spatial position data into the form of three-dimensional coordinates;

[0021] Obtain the difference in the height coordinates in the spatial position data after the second correction action and the initial spatial position data at any moment, that is, the settlement change degree of the transmission tower.

[0022] As a preferred solution of the transmission tower settlement monitoring method based on Beidou positioning of the present invention, wherein: obtain the settlement change degree data set and the tilt change degree data set of the transmission tower under various environmental influence factors, and specifically further include the following steps:

[0023] Measure the tilt angles of the transmission tower along the X-axis and Y-axis respectively based on the biaxial tilt unit;

[0024] Calculate the total tilt angle of the transmission tower based on the tilt angles of the X-axis and Y-axis through the Pythagorean theorem;

[0025] Obtain the historical data sets of the total tilt angle of the transmission tower and various environmental impact factors;

[0026] Using the historical data sets of various environmental impact factors as input features and the historical data set of the total tilt angle as the output target, input the historical data set into the evaluation model of the tilt change degree for training;

[0027] Obtain the current total tilt angle of the transmission tower and input it into the trained evaluation model of the tilt change degree to obtain the total tilt change degree of the transmission tower in real time.

[0028] As a preferred solution of the transmission tower settlement monitoring method based on Beidou positioning of the present invention, wherein: construct an evaluation model of settlement and tilt change degree to obtain the attitude stability index of the transmission tower, which specifically includes the following steps:

[0029] Summarize the settlement change degree, total tilt change degree of the transmission tower at historical moments and the total historical data sets of various corresponding environmental impact factors;

[0030] Using the total historical data sets of various environmental impact factors as input features and the total historical data set corresponding to the settlement and tilt change degree as the output target, input the historical data set into the evaluation model of settlement and tilt change degree for training;

[0031] Obtain the settlement change degree, total tilt change degree of the transmission tower at the current moment and the current data sets of various corresponding environmental impact factors, and input them into the trained evaluation model of settlement and tilt change degree to obtain the attitude stability index of the transmission tower in real time.

[0032] As a preferred solution of the transmission tower settlement monitoring method based on Beidou positioning of the present invention, wherein: based on the evaluation result of the attitude stability index, identify the abnormal change of the attitude of the transmission tower in real time and preset the warning threshold, which specifically includes the following steps:

[0033] Preset the corresponding warning thresholds for the settlement change degree and total tilt change degree of the transmission tower respectively;

[0034] Compare the current data of the settlement change degree and total tilt change degree obtained in real time with the corresponding warning thresholds respectively;

[0035] If the current data respectively exceed the corresponding warning thresholds, trigger a warning and generate the corresponding warning information;

[0036] If the current data do not exceed the corresponding warning thresholds, no warning is triggered.

[0037] To further solve the above technical problems, the present invention provides the following technical solutions: A system for a transmission tower settlement monitoring method based on Beidou positioning, including a data acquisition module, which includes a spatial position data acquisition sub-module and a settlement and tilt change degree data set acquisition sub-module;

[0038] The spatial position data acquisition sub-module is responsible for acquiring the current spatial position data and the initial spatial position data of the transmission tower;

[0039] The settlement and tilt change degree data set acquisition sub-module calculates the settlement change degree and the tilt change degree based on the spatial position data;

[0040] A data processing and correction module, including an error value calculation sub-module, a first correction sub-module, and a second correction sub-module;

[0041] The error value calculation sub-module calculates the error value of single-point positioning;

[0042] The first correction sub-module makes a preliminary correction to the current spatial position data;

[0043] The second correction sub-module performs a weighted average calculation on the preliminarily corrected data to eliminate the influence of environmental factors;

[0044] A model training and evaluation module, including a tilt change degree evaluation model training sub-module, a settlement and tilt change degree evaluation model training sub-module, and an attitude stability index acquisition sub-module;

[0045] The tilt change degree evaluation model training sub-module trains the tilt change degree evaluation model using historical data;

[0046] The settlement and tilt change degree evaluation model training sub-module trains the settlement and tilt change degree evaluation model using historical data;

[0047] The attitude stability index acquisition sub-module acquires the attitude stability index of the transmission tower in real time;

[0048] An early warning and risk grading module, including an early warning threshold presetting sub-module, an early warning information generating sub-module, and a risk level dividing and adjusting sub-module;

[0049] The early warning threshold presetting sub-module presets the early warning thresholds for the settlement change degree and the total tilt change degree.

[0050] The early warning information generating sub-module monitors the attitude of the transmission tower in real time and generates early warning information.

[0051] The risk level dividing and adjusting sub-module divides and adjusts the risk level in real time according to the early warning information;

[0052] The system monitoring and output module includes a real-time monitoring sub-module and an output display sub-module;

[0053] The real-time monitoring sub-module tracks the abnormal changes in the posture of transmission towers;

[0054] The output display sub-module shows the settlement change degree, tilt change degree, posture stability index and warning information.

[0055] A computer device includes a memory and a processor. The memory stores a computer program. It is characterized in that when the processor executes the computer program, the steps of the above-mentioned transmission tower settlement monitoring method based on Beidou positioning are realized.

[0056] A computer-readable storage medium stores a computer program thereon. It is characterized in that when the computer program is executed by a processor, the steps of the above-mentioned transmission tower settlement monitoring method based on Beidou positioning are realized.

[0057] The beneficial effects of the present invention: Through the Beidou high-precision positioning sensor and the ground base station-assisted positioning, the single-point positioning error is eliminated, and methods such as weighted average calculation are used to eliminate the influence of environmental factors on the positioning result, thereby significantly improving the positioning accuracy, especially performing better in complex environments (such as waters); Based on the more accurate settlement change degree and tilt change degree data obtained in real time, real abnormal changes can be discovered in time to avoid potential risks. According to the severity of the warning information, the system conducts risk level division and can respond in real time to change the risk level according to the dynamically changing monitoring data, ensuring that the abnormality is monitored in real time and is taken seriously and processed. Description of the Drawings

[0058] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0059] Figure 1 It is the overall flowchart of the transmission tower settlement monitoring method based on Beidou positioning of the present invention. Detailed Embodiments

[0060] To make the above-mentioned objects, features and advantages of the present invention more obvious and understandable, the detailed embodiments of the present invention will be described in detail below with reference to the drawings in the specification.

[0061] In the following description, many specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0062] Secondly, as used herein, "one embodiment" or "an embodiment" refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The appearances of "in one embodiment" in different places in this specification do not all refer to the same embodiment, nor are they separate or alternative embodiments that exclude each other.

[0063] Embodiment 1

[0064] Referring to Figure 1 , which is the first embodiment of the present invention, this embodiment provides a method for monitoring the settlement of transmission towers based on Beidou positioning, which includes:

[0065] S1: Obtain the settlement change degree data set and tilt change degree data set of the transmission tower under various environmental influence factors, and construct an evaluation model of settlement and tilt change degree to obtain the attitude stability index of the transmission tower.

[0066] It should be noted that the environmental influence factors include time factor, water level factor, climate factor, and geological factor.

[0067] Furthermore, step S2 specifically includes the following steps:

[0068] S101: Based on the first positioning unit, obtain the current spatial position data of the transmission tower.

[0069] S102: Based on at least one second positioning unit, obtain at least one set of initial spatial position data of the transmission tower.

[0070] S103: Obtain the error values of the current spatial position data and the initial spatial position data based on single-point positioning.

[0071] S104: Perform a first correction action on the current spatial position data based on the error value.

[0072] It should be noted that the first positioning unit is preferably a Beidou high-precision positioning sensor in this embodiment, and the second positioning unit is preferably a ground base station.

[0073] In this embodiment, the expression of the first correction action in step S104 is:

[0074] (x,y,z) corrected =(x,y,z) measured +Δ(x,y,z) (1)

[0075] Among them, (x, y, z) measured is the preliminary position measured by the Beidou satellite through the navigation system; Δ(x, y, z) is the position error after correction by the ground base station, usually calculated from the distance difference between the base station and the satellite and the signal propagation error; (x, y, z) corrected is the accurate position coordinate after correction.

[0076] It should be noted that in the prior art, the expression of satellite positioning is:

[0077] (x, y, z) = (x sat , y sat , z sat )

[0078] Among them, (x, y, z) represents the positioning coordinates directly provided by the satellite navigation system; (x sat , y sat , z sat ): the coordinates of the positioning point calculated by the satellite navigation system.

[0079] Preferably, on the basis of the prior art, the present invention introduces the consideration of correction by the ground base station. For the special geological conditions in the water area environment, error correction can effectively improve the position accuracy and reduce the positioning deviation caused by factors such as humidity and settlement.

[0080] Furthermore, step S2 specifically further includes the following steps:

[0081] S105: Based on at least two second positioning units, obtain at least two groups of initial spatial position data of the transmission tower.

[0082] S106: Obtain the current spatial position data after the first correction action and the set of error values of each initial spatial position data based on single-point positioning.

[0083] S107: Perform a weighted average calculation on each error value to obtain the optimal error value that eliminates the influence of environmental factors.

[0084] S108: Perform a second correction action on the current spatial position data after the first correction action based on the optimal error value.

[0085] In this embodiment, the expression of the second correction action in step S108 is:

[0086]

[0087] Among them, Δt is the time error corrected by the base station; d i is the distance between the ith base station and the positioning point; c is the speed of light, and n is the number of base stations.

[0088] Preferably, it can eliminate the positioning error caused by the specific factors of the water area environment and improve the positioning accuracy.

[0089] Furthermore, step S2 specifically further includes the following steps:

[0090] S109: Convert the spatial position data after the second correction action at any moment and at least one set of initial spatial position data into the form of three-dimensional coordinates.

[0091] S1010: Obtain the difference in the height coordinates in the spatial position data after the second correction action at any moment and the initial spatial position data, that is, the settlement change degree of the transmission tower.

[0092] In this embodiment, the calculation expression of the settlement change degree of the transmission tower in step S1010 is:

[0093] Δh = h 0 - h(t) (5)

[0094] where h 0 is the height of the initial tower body; h(t) is the height of the tower body at the current moment; Δh is the settlement amount of the tower body.

[0095] Preferably, by regularly monitoring the height change of the tower body, this expression can accurately calculate the settlement amount of the tower body in the water area environment.

[0096] Furthermore, step S2 specifically further includes the following steps:

[0097] S1011: Measure the inclination angles of the transmission tower along the X-axis and Y-axis respectively based on the biaxial inclination unit.

[0098] S1012: Calculate the total inclination angle of the transmission tower based on the inclination angles of the X-axis and Y-axis through the Pythagorean theorem.

[0099] In this embodiment, the calculation expression of the total inclination angle of the transmission tower in step S1012 is:

[0100]

[0101] where θ x is the inclination angle along the X-axis, reflecting the change of the horizontal plane of the tower body in the water area environment; θ y is the inclination angle along the Y-axis, indicating the change in the vertical plane; θ is the total inclination angle of the tower body.

[0102] It should be noted that in the prior art, the expression of single-axis inclination measurement is θ = θ y, where θ represents the tilt angle of the structure. Here, only the tilt along the Y-axis is considered as an example; θ y represents the tilt angle along the Y-axis, reflecting the change of the structure in the vertical plane.

[0103] Preferably, this formula can comprehensively consider the tilt changes of the tower body in different directions in the water area environment, providing comprehensive data support for subsequent health monitoring and risk assessment.

[0104] S1013: Obtain the historical data sets of the total tilt angle of the transmission tower and various environmental impact factors.

[0105] S1014: Using the historical data sets of various environmental impact factors as input features and the historical data set of the total tilt angle as the output target, input the historical data sets into the evaluation model of the tilt change degree for training.

[0106] S1015: Obtain the current total tilt angle of the transmission tower and input it into the trained evaluation model of the tilt change degree to obtain the total tilt change degree of the transmission tower in real time.

[0107] In this embodiment, the calculation expression of the total tilt change degree of the transmission tower in step S1015 is:

[0108] θ(t) = θ 0 +αt + β·environment + γ·soil settlement + δ·what level change(4)

[0109] where θ(t) is the total tilt angle of the tower body at time t; θ 0 is the initial tilt angle (the reference tilt angle when the system starts or is calibrated); α represents the linear influence coefficient of time on the tilt angle (reflecting the rate of long-term natural settlement or structural aging); β is the comprehensive environmental influence coefficient (quantifying the contribution of environmental factors such as temperature, humidity, and wind force to the tilt); environment is the environmental parameter (including dynamic variables such as temperature, humidity, and wind speed); γ is the soil settlement influence coefficient (reflecting the amplification effect of foundation soil settlement on the tilt rate);

[0110] soil settlement is the amount of soil settlement (the vertical displacement of the foundation caused by load or hydrological changes); δ is the water level change influence coefficient (quantifying the dynamic influence of water level rise and fall on the stability of the tower foundation);

[0111] what level change is the amount of water level change (the water level fluctuation near the monitoring point).

[0112] It should be noted that during the system startup or calibration phase, the initial tilt angle is recorded. As time t progresses, the tilt angle is affected by long-term natural settlement or structural aging, which is represented by αt; environmental factors such as temperature, humidity, wind force, etc. will affect the tilt angle, and this part is quantified by β·environment; the settlement of the foundation soil will also cause changes in the tilt angle, which is represented by γ·soil settlement; the change in water level will affect the stability of the tower base, and this part is quantified by δ·what level change.

[0113] In this embodiment, the calculation steps for the total tilt change degree of the transmission tower in step S1015 are as follows:

[0114] (1) Read the current time t and the corresponding environmental parameters environment, soil settlement amount soil settlement, and water level change amount what level change.

[0115] (2) Calculate the influence values of the corresponding parameters on the tilt angle change according to the above parameters.

[0116] (3) Add up all the influence values to obtain the total tilt angle θ(t) at the current moment t.

[0117] Preferably, traditional models usually only consider the time linear term or simple environmental interference. The model of this embodiment adds exclusive parameters for water areas (γ·soil settlement + δ·what level change) to specifically solve the structural stability problem of transmission towers in water area environments.

[0118] Preferably, the design and implementation of the data transmission network are involved in this embodiment. The purpose is to ensure that the real-time data collected by the Beidou high-precision positioning sensor and the biaxial tilt sensor installed on the transmission tower can be quickly and stably transmitted to the data processing center. Specifically, a multi-layer data transmission network combining Beidou short message technology and wireless 4G communication technology is adopted to achieve efficient data transmission and ensure that the system can operate stably under harsh environmental conditions, especially in water area environments.

[0119] Preferably, the Beidou short message technology can achieve wireless data transmission over a large range through Beidou satellites, overcoming the problem of insufficient communication network coverage that may exist in water area environments. The advantage of the Beidou short message technology is that it can still perform data transmission in places without the support of traditional communication networks (such as cellular networks), which is especially suitable for transmission towers far from cities and communication infrastructure. In this embodiment, the data collected by the sensor is sent to the data transmission network through the Beidou short message technology, thus ensuring the real-time transmission of data; the specific expression is:

[0120] Message sent = Sensor data + Timestamp + Location coordinates (6)

[0121] Among them, Message sent is the short message data packet sent; Sensor data is the data collected by the sensor (such as location, inclination, etc.); Timestamp is the time stamp to ensure the real-time nature of the data;

[0122] Location coordinates is the coordinate information of the location where the sensor is located to ensure the geographical location identification of the data.

[0123] It should be noted that the data such as the location and inclination of the transmission tower are collected in real time by the above sensors, a time stamp is added to each data packet to ensure the real-time nature and order of the data, and the coordinate information of the location where the sensor is located is added to each data packet to ensure the geographical location identification of the data. These three groups of data are summarized and combined into a complete short message data packet Message sent and sent to the data center through the Beidou short message technology.

[0124] Preferably, in an environment relatively close to the water area, when the 4G network signal is relatively stable, the 4G wireless communication network becomes the main data transmission method. Through the high-speed 4G network, data can be transmitted to the data processing center efficiently and quickly. The high bandwidth and low latency of the 4G network enable a large amount of data to be uploaded in real time; the specific expression is:

[0125]

[0126] Among them, Data Size is the amount of data to be transmitted; Transmission Time is the time required to transmit the data; Transmission Speed is the data transmission rate, which can usually reach several hundred Mbps under the 4G network. Through this fast transmission, the monitoring system can obtain the latest status of the tower body in real time and evaluate the settlement, inclination changes and other potential risks in a timely manner.

[0127] Preferably, due to potential communication security hazards in the water area environment, especially when transmitting sensitive data, this embodiment adopts the VPN technology to encrypt the data to ensure the security of the data during transmission. The VPN technology transmits data through an encrypted virtual channel to prevent data leakage or being tampered with; the specific expression is:

[0128]

[0129] Among them, Encrypted Data is the encrypted data; Data is the original data to be encrypted (such as sensor data); is the encryption operator, indicating data encryption; Encryption Key is the key used to encrypt the data.

[0130] It should be noted that a suitable encryption key EncryptionKey is selected, and the original data Data is subjected to an exclusive OR operation using the selected key to generate the encrypted data EncryptedData, and the encrypted data EncryptedData is transmitted to the data center through a secure channel.

[0131] Further, step S2 specifically further includes the following steps:

[0132] S1016: Summarize the historical data sets of the settlement change degree, total tilt change degree of the transmission tower at historical moments, and the corresponding various environmental impact factors.

[0133] S1017: Taking the historical data sets of the various environmental impact factors as input features and the historical data sets corresponding to the settlement and tilt change degrees as output targets, input the historical data sets into the evaluation model of the settlement and tilt change degrees for training.

[0134] S1018: Obtain the current data sets of the settlement change degree, total tilt change degree of the transmission tower at the current moment, and the corresponding various environmental impact factors, and input them into the trained evaluation model of the settlement and tilt change degrees to obtain the attitude stability index of the transmission tower in real time.

[0135] In this embodiment, the calculation expression of the evaluation model of the settlement and tilt change degrees in step S1018 is:

[0136] Stability Index = f(Δh, θ, Environmental Factors) (11)

[0137] Among them, Δh is the settlement amount of the tower body; θ is the tilt angle of the tower body; Environmental Factors are environmental factors (such as water level, temperature, etc.); Stability Index is the stability index of the tower body, measuring the health status of the tower body.

[0138] Preferably, through the evaluation model of the settlement and tilt change degrees, the system can evaluate the stability of the tower body in real time and identify possible risks in advance.

[0139] It should be noted that the settlement Δh, tilt angle θ of the tower body, and environmental factors (such as water level, temperature, etc.) are collected in real time through sensors. The collected settlement Δh, tilt angle θ, and environmental factors "Environmental Factors" are input into the trained evaluation model f. The model f calculates the stability index "StabilityIndex" of the tower body based on the input data. The model f can be a complex mathematical model or a machine learning model, and its specific form can include linear regression, decision tree, neural network, etc. According to the calculated stability index "Stability Index", the system can evaluate the stability of the tower body in real time. The stability index can identify potential risks in advance and take corresponding preventive measures.

[0140] S2: Based on the evaluation result of the attitude stability index, the abnormal changes in the attitude of the transmission tower are identified in real time and a warning threshold is preset.

[0141] Furthermore, step S2 specifically includes the following steps:

[0142] S201: Corresponding warning thresholds are preset respectively for the settlement change degree and the total tilt change degree of the transmission tower.

[0143] S202: The current data of the settlement change degree and the total tilt change degree obtained in real time are respectively compared with the corresponding warning thresholds.

[0144] S203: If the current data respectively exceed the corresponding warning thresholds, a warning is triggered and corresponding warning information is generated.

[0145] S204: If the current data do not exceed the corresponding warning thresholds, no warning is triggered.

[0146] In this embodiment, the expressions for comparing the current data with the corresponding warning thresholds in step S2 are:

[0147]

[0148] where, Δh threshold is the preset settlement threshold; θ threshold is the preset tilt threshold; WarningTriggered is the warning trigger flag, 1 indicates that a warning is triggered, and 0 indicates that no warning is triggered.

[0149] It should be noted that when the health status does not meet the standard, the system will notify the operation and maintenance personnel by means of text messages, emails, or mobile applications, etc., to ensure that preventive measures can be taken in the initial stage of the problem.

[0150] S3: Generate a warning message based on the preset warning threshold, and perform the division of at least two levels of risk levels. Real-time track the abnormal changes in the attitude of the transmission tower to adjust the corresponding risk levels in real time for matching.

[0151] In this embodiment, the expression of the warning message in step S3 is:

[0152] Warning Message = Timestamp + Parameter abnormal + Risk Level (14)

[0153] where, Timestamp is the timestamp when the anomaly occurs; Parameter abnormal is the specific parameter of the abnormal change (such as settlement amount, inclination angle, etc.); Risk Level is the risk level corresponding to the abnormal change (such as low, medium, high).

[0154] It should be noted that according to the severity of the warning message, the system can set a multi-level response mechanism. Slight abnormal changes may only need to be recorded and monitored regularly, while more serious abnormal changes will trigger a higher-level response. For example, immediately notify the maintenance personnel to conduct on-site inspections and increase the inspection frequency, etc. The system ensures that measures are taken in a timely manner through this multi-level response mechanism to effectively prevent the risk from further developing.

[0155]

[0156] where, Response Level is the response level, indicating the action level taken according to the risk level; AnomalyDetected is whether an anomaly is detected; Risk Level is the risk level of the anomaly (low, medium, high).

[0157] Preferably, in addition to automatically generating a warning and notifying the user, this embodiment also has a real-time monitoring interface, which is convenient for the user to intuitively view the health status of the transmission tower. Through the graphical interface, the user can real-time track the settlement, inclination changes of the tower body and other monitoring data to check whether it exceeds the preset safety threshold. When the system generates a warning message, the user can view the detailed risk assessment report through the interface, which is convenient for quick decision-making and response. Through this visual monitoring and feedback mechanism, the operation and maintenance personnel can always master the health status of the tower body to ensure that measures are taken promptly to prevent accidents from occurring.

[0158] Preferably, once the early warning information is generated, the system will track subsequent changes and dynamically optimize the early warning response strategy based on the latest data. If the anomaly persists or intensifies, the system will automatically adjust the early warning level and remind the user again. After all anomalies are handled, the system will continue to conduct regular monitoring to ensure that the health status of the tower body returns to the safe range. The specific expression is:

[0159] Updated Risk Level=f(Anomaly Persistence,New Data) (16)

[0160] Among them, Updated Risk Level is the updated risk level; Anomaly Persistence is the parameter of the anomaly duration; New Data is the latest collected data.

[0161] Preferably, through this dynamic update mechanism, the system ensures that anomalies are monitored and processed in real time, ensuring the long-term stability of the transmission tower.

[0162] It should be noted that the data transmitted to the data processing center usually contains noise and errors, which may come from factors such as sensor instability, environmental interference, communication delay, etc. To ensure the accuracy of the data, it is first necessary to preprocess the original data. The preprocessing includes operations such as removing outliers and filtering noise, and ensuring the reliability of subsequent analysis through data cleaning. The specific expression is:

[0163] Cleaned Data=Raw Data-Noise Filtered Data (9)

[0164] Among them, Cleaned Data is the data after removing noise; Raw Data is the originally collected data; NoiseFiltered Data is the part of the data after removing noise;

[0165] In this way, the interference components in the data collected by the sensor are removed, making the remaining data more accurate and reliable, and suitable for subsequent analysis.

[0166] It should be noted that since the health monitoring of transmission towers requires processing a large amount of data, including sensor collection data, historical data, environmental data, etc., traditional data processing methods are difficult to meet the requirements of real-time processing and analysis. Therefore, this embodiment adopts big data processing technology to handle the analysis tasks of massive data. Through technologies such as parallel computing and distributed storage, it can efficiently process a large amount of data and achieve double guarantees of real-time performance and accuracy;

[0167] The data processing center uses a distributed computing architecture, leveraging multi-core processors and cloud computing platforms to process data in parallel by dividing it into chunks, significantly improving the data processing speed. A big data analysis platform (such as Hadoop, Spark, etc.) is used for data cleaning, storage, querying, processing, and analysis to ensure stable operation under different workloads and requirements. The specific expression is:

[0168]

[0169] Among them, Processed Data is the total processed data; Data Block i is the i-th block of data; ProcessignPower i is the computing power for processing the i-th block of data; n is the number of data blocks;

[0170] Through this method, data from different sensors can be processed in parallel in a distributed manner, greatly improving the data processing efficiency.

[0171] In summary, the present invention uses Beidou high-precision positioning sensors and ground base stations for assisted positioning to eliminate single-point positioning errors, and uses methods such as weighted average calculation to eliminate the influence of environmental factors on the positioning results, thereby significantly improving the positioning accuracy, especially performing better in complex environments (such as water areas); based on the more accurate settlement change degree and tilt change degree data obtained in real time, real abnormal changes can be detected in a timely manner to avoid potential risks. According to the severity of the warning information, the system conducts risk level classification and can respond to the change of risk level in real time according to the dynamically changing monitoring data to ensure that the abnormality is monitored in real time and is taken seriously and processed.

[0172] Embodiment 2

[0173] This is the second embodiment of the present invention, which is different from the previous two embodiments in that it provides a transmission tower settlement monitoring system based on Beidou positioning, including a data acquisition module, a data processing and correction module, a model training and evaluation module, a warning and risk grading module, and a system monitoring and output module.

[0174] Among them, the data acquisition module includes a spatial position data acquisition sub-module and a settlement and tilt change degree data set acquisition sub-module;

[0175] The spatial position data acquisition sub-module is responsible for acquiring the current spatial position data and the initial spatial position data of the transmission tower;

[0176] The settlement and tilt change degree data set acquisition sub-module calculates the settlement change degree and the tilt change degree based on the spatial position data;

[0177] The data processing and correction module includes an error value calculation sub-module, a first correction sub-module, and a second correction sub-module;

[0178] The error value calculation sub-module calculates the error value of single-point positioning;

[0179] The first correction sub-module performs a preliminary correction on the current spatial position data;

[0180] The second correction sub-module performs a weighted average calculation on the preliminarily corrected data to eliminate the influence of environmental factors;

[0181] The model training and evaluation module includes a tilt change degree evaluation model training sub-module, a settlement and tilt change degree evaluation model training sub-module, and an attitude stability index acquisition sub-module;

[0182] The tilt change degree evaluation model training sub-module trains the tilt change degree evaluation model using historical data;

[0183] The settlement and tilt change degree evaluation model training sub-module trains the settlement and tilt change degree evaluation model using historical data;

[0184] The attitude stability index acquisition sub-module obtains the attitude stability index of the transmission tower in real time;

[0185] The early warning and risk grading module includes an early warning threshold presetting sub-module, an early warning information generation sub-module, and a risk level classification and adjustment sub-module;

[0186] The early warning threshold presetting sub-module presets the early warning thresholds for the settlement change degree and the total tilt change degree.

[0187] The early warning information generation sub-module monitors the attitude of the transmission tower in real time and generates early warning information.

[0188] The risk level classification and adjustment sub-module classifies and adjusts the risk level in real time according to the early warning information;

[0189] The system monitoring and output module includes a real-time monitoring sub-module and an output display sub-module;

[0190] The real-time monitoring sub-module tracks the abnormal changes in the attitude of the transmission tower;

[0191] The output display sub-module displays the settlement change degree, the tilt change degree, the attitude stability index, and the early warning information.

[0192] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0193] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a predefined sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or in combination with these instruction execution systems, apparatuses, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in combination with an instruction execution system, apparatus, or device.

[0194] More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection part with one or more wirings (electronic device), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber device, and portable compact disc read-only memory (CDROM). Additionally, a computer-readable medium can even be paper or other suitable media on which a program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0195] It should be understood that various parts of the present invention can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc. It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

[0196] Importantly, the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A method for monitoring transmission tower settlement based on Beidou positioning, characterized in that: include, Obtain the settlement change data set and tilt change data set of the transmission tower based on various environmental factors, and use this to build an evaluation model for settlement and tilt change to obtain the posture stability index of the transmission tower; Based on the evaluation result of the posture stability index, abnormal changes in the posture of the transmission tower are identified in real time and a warning threshold is preset; Based on the preset warning threshold, warning information is generated, and at least two groups of risk levels are divided, and abnormal changes in the posture of the transmission tower are tracked in real time to adjust the corresponding risk level in real time for matching.

2. The transmission tower settlement monitoring method based on Beidou positioning according to claim 1, characterized in that: Obtaining a settlement variation dataset and an inclination variation dataset of a transmission tower based on various environmental factors specifically includes the following steps: Based on the first positioning unit, obtaining current spatial position data of the transmission tower; Based on at least one second positioning unit, obtaining initial spatial position data of at least one group of transmission towers; Obtain the error value of the current spatial position data and the initial spatial position data based on single point positioning; A first correction action is performed on the current spatial position data based on the error value.

3. The transmission tower settlement monitoring method based on Beidou positioning as claimed in claim 2 is characterized in that: Obtaining a settlement variation data set and an inclination variation data set of a transmission tower based on various environmental factors specifically includes the following steps: Based on at least two second positioning units, obtaining initial spatial position data of at least two groups of transmission towers; Obtaining the current spatial position data after the first correction action and a collection of error values ​​of each initial spatial position data based on single point positioning; Perform weighted average calculation on each error value to obtain the optimal error value that eliminates the influence of environmental factors; A second correction action is performed on the current spatial position data after the first correction action based on the optimal error value.

4. The transmission tower settlement monitoring method based on Beidou positioning as claimed in claim 3 is characterized in that: Obtaining a settlement variation data set and an inclination variation data set of a transmission tower based on various environmental factors specifically includes the following steps: Converting the spatial position data after the second correction action at any time and at least one set of initial spatial position data into a three-dimensional coordinate expression form; The difference between the spatial position data after the second correction action at any time and the height coordinate in the initial spatial position data is obtained, that is, the settlement change degree of the transmission tower.

5. The transmission tower settlement monitoring method based on Beidou positioning according to any one of claims 1 to 4, characterized in that: Obtaining a settlement variation data set and an inclination variation data set of a transmission tower based on various environmental factors specifically includes the following steps: Based on the dual-axis tilt unit, the tilt angles of the transmission tower along the X-axis and Y-axis are measured respectively; Based on the inclination angles of the X-axis and the Y-axis, the total inclination angle of the transmission tower is calculated by the Pythagorean theorem; Obtain historical data sets of total tilt angles of transmission towers and various environmental influencing factors; Taking the historical data set of each environmental influencing factor as the input feature and the historical data set of the total tilt angle as the output target, the historical data set is input into the tilt change evaluation model for training; The current total tilt angle of the transmission tower is obtained and input into the trained tilt change evaluation model to obtain the total tilt change of the transmission tower in real time.

6. The transmission tower settlement monitoring method based on Beidou positioning as claimed in claim 5, characterized in that: Constructing a settlement and tilt change evaluation model to obtain the attitude stability index of the transmission tower includes the following steps: Summarize the historical data of the settlement change degree, total tilt change degree and corresponding environmental influencing factors of the transmission tower at historical moments; Taking the total set of historical data of various environmental influencing factors as input features and the total set of historical data corresponding to the settlement and tilt change as output targets, the total set of historical data is input into the settlement and tilt change evaluation model for training; The current data set of the settlement change, total tilt change and corresponding environmental influencing factors of the transmission tower at the current moment is obtained, and input into the trained settlement and tilt change evaluation model to obtain the posture stability index of the transmission tower in real time.

7. The method for monitoring transmission tower settlement based on Beidou positioning according to any one of claims 1, 2, 4, 5 and 6, characterized in that: Based on the evaluation result of the attitude stability index, abnormal attitude changes of the transmission tower are identified in real time and a warning threshold is preset, which specifically includes the following steps: Preset corresponding warning thresholds for the settlement change degree and total tilt change degree of the transmission tower respectively; The current data of the settlement change and total tilt change acquired in real time are compared with the corresponding warning thresholds respectively; If the current data exceeds the corresponding warning threshold, a warning is triggered and corresponding warning information is generated; If the current data does not exceed the corresponding warning threshold, no warning is triggered.

8. A system using the Beidou positioning-based transmission tower settlement monitoring method as claimed in any one of claims 1 to 4 and 6, characterized in that: It includes a data acquisition module, including a spatial position data acquisition submodule and a settlement and tilt change degree data set acquisition submodule; A data processing and correction module, comprising an error value calculation submodule, a first correction submodule and a second correction submodule; Model training and evaluation module, including a tilt change evaluation model training submodule, a settlement and tilt change evaluation model training submodule, and an attitude stability index acquisition submodule; The early warning and risk classification module includes an early warning threshold preset submodule, an early warning information generation submodule, and a risk level classification and adjustment submodule; And the system monitoring and output module includes a real-time monitoring submodule and an output display submodule.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the transmission tower settlement monitoring method based on Beidou positioning described in the claims are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the transmission tower settlement monitoring method based on Beidou positioning described in the claims are implemented.

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