Well lid monitoring method and system

Abstract

The invention relates to a well lid monitoring method and system, and belongs to the technical field of urban well lid monitoring, and the method comprises the steps: collecting the acceleration value of a well lid, and uploading the acceleration value to a single-chip microcomputer; filtering the acceleration value to obtain a filtered acceleration value; the inclination angle value of the well lid is calculated according to the filtered acceleration value; whether the current inclination angle value exceeds a preset threshold value or not is judged, and when the inclination angle value exceeds the preset threshold value, a well lid inclination alarm is given out. The inclination angle value of the well lid is calculated through the well lid acceleration value collected by the sensor, monitoring of the real-time state of the well lid is achieved based on the inclination angle value of the well lid, the problems that traditional manual inspection is low in efficiency and slow in response are effectively solved, and intelligent safety management and control of urban well lids are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of manhole cover monitoring, and particularly to a manhole cover monitoring method and system. Background Art

[0002] With the acceleration of the urbanization process, the scale of the underground pipe network system is expanding day by day. As an important part of urban infrastructure, the safety status of manhole covers is directly related to public safety and traffic operation efficiency. Traditional manhole cover management mainly relies on manual inspections, which have problems such as lagging response and high labor costs. Summary of the Invention

[0003] To solve the above problems, the purpose of the embodiments of the present invention is to provide a manhole cover monitoring method and system.

[0004] A manhole cover monitoring method includes:

[0005] Step 1: Collect the acceleration value of the manhole cover and upload the acceleration value to the single-chip microcomputer.

[0006] Step 2: Perform filtering processing on the acceleration value to obtain the filtered acceleration value.

[0007] Step 3: Calculate the tilt angle value of the manhole cover according to the filtered acceleration value.

[0008] Step 4: Determine whether the current tilt angle value exceeds a preset threshold, and issue a manhole cover tilt alarm when the tilt angle value exceeds the preset threshold.

[0009] Preferably, in the step 1, after the single-chip microcomputer is powered on and started, the single-chip microcomputer is in a low-power mode. The acceleration value of the manhole cover is collected using an accelerometer sensor. When the acceleration value collected by the accelerometer sensor is greater than the wake-up threshold, the interrupt pin of the accelerometer sensor triggers a signal. After receiving the signal of the interrupt pin, the single-chip microcomputer exits from the low-power mode and obtains the acceleration value of the Z-axis of the accelerometer.

[0010] Preferably, in the step 2, the Kalman filtering algorithm is used to perform filtering processing on the Z-axis acceleration value collected by the accelerometer to obtain the filtered acceleration value.

[0011] The present invention also provides a manhole cover monitoring system, including:

[0012] A signal acquisition module, configured to collect the acceleration value of the manhole cover and upload the acceleration value to the single-chip microcomputer;

[0013] A filtering module, configured to perform filtering processing on the acceleration value to obtain the filtered acceleration value;

[0014] A tilt angle calculation module, configured to calculate the tilt angle value of the manhole cover according to the filtered acceleration value;

[0015] An alarm module, configured to determine whether the current tilt angle value exceeds a preset threshold, and issue a manhole cover tilt alarm when the tilt angle value exceeds the preset threshold.

[0016] Preferably, after the single-chip microcomputer is powered on and started, the single-chip microcomputer is in a low-power mode, and the accelerometer sensor is used to collect the acceleration value of the manhole cover. When the acceleration value collected by the accelerometer sensor is greater than the wake-up threshold, the interrupt pin of the accelerometer sensor triggers a signal. After receiving the signal of the interrupt pin, the single-chip microcomputer exits from the low-power mode and obtains the acceleration value of the Z-axis of the accelerometer.

[0017] Preferably, in the filtering module, the Kalman filtering algorithm is used to filter the acceleration value of the Z-axis collected by the accelerometer to obtain the filtered acceleration value.

[0018] The present invention also provides an electronic device, including a bus, a transceiver, a memory, a processor, and a computer program stored on the memory and executable on the processor. The transceiver, the memory, and the processor are connected through the bus. The feature is that when the computer program is executed by the processor, the steps in the above-mentioned manhole cover monitoring method are realized.

[0019] The present invention also provides a computer-readable storage medium, on which a computer program is stored. The feature is that when the computer program is executed by a processor, the steps in the above-mentioned manhole cover monitoring method are realized.

[0020] According to the specific embodiments provided by the present invention, the following technical effects are disclosed by the present invention:

[0021] The present invention relates to a manhole cover monitoring method. Compared with the prior art, the present invention calculates the tilt angle value of the manhole cover through the acceleration value of the manhole cover collected by the sensor, and realizes the monitoring of the real-time state of the manhole cover based on the tilt angle value of the manhole cover, effectively solving the problems of low efficiency and slow response of traditional manual inspection, and realizing the intelligent and safe management and control of urban manhole covers.

[0022] In order to make the above-mentioned objects, features, and advantages of the present invention more obvious and understandable, the following specific preferred embodiments are given, and in conjunction with the accompanying drawings, the detailed description is as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings 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.

[0024] Figure 1 Flow chart of the manhole cover monitoring method provided by the present invention;

[0025] Figure 2 Schematic diagram of the manhole cover monitoring method provided by the present invention. Detailed implementation manners

[0026] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0027] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0028] In the present invention, unless otherwise clearly defined and limited, the terms "installed", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0029] Please refer to Figure 1 , a manhole cover monitoring method, including:

[0030] Step 1: Collect the acceleration value of the manhole cover and upload the acceleration value to the single-chip microcomputer;

[0031] Step 2: Perform filtering processing on the acceleration value to obtain the filtered acceleration value;

[0032] Step 3: Calculate the tilt angle value of the manhole cover according to the filtered acceleration value;

[0033] Step 4: Determine whether the current tilt angle value exceeds a preset threshold, and issue a manhole cover tilt alarm when the tilt angle value exceeds the preset threshold.

[0034] In step 1, after the single-chip microcomputer is powered on and started, the single-chip microcomputer is in the low-power mode. The accelerometer sensor is used to collect the acceleration value of the manhole cover. When the acceleration value collected by the accelerometer sensor is greater than the wake-up threshold, the interrupt pin of the accelerometer sensor triggers a signal. After receiving the signal of the interrupt pin, the single-chip microcomputer exits from the low-power mode and obtains the acceleration value of the Z-axis of the accelerometer.

[0035] The external event is abnormal vibration, which may be caused by the inclination of the manhole cover or by factors such as cars. The purpose of this algorithm is to process the abnormal vibration data and judge the state of the manhole cover after detecting abnormal vibration (greater than the wake-up threshold). When the manhole cover is inclined, an alarm message is triggered and uploaded, otherwise the device enters the low-power state.

[0036] The execution flow of this algorithm program is as Figure 2 shown. After the device is powered on and started, the accelerometer sensor is configured and set to the wake-up interrupt mode. The single-chip microcomputer enters the low-power mode to save battery power consumption and extend the working time of the device. When abnormal vibration occurs, it is triggered by the interrupt pin of the accelerometer. The single-chip microcomputer receives the level jump of the interrupt pin, exits from the low-power mode, and performs data acquisition. Each time, the acceleration value of the Z-axis of the accelerometer is collected, and the acceleration value is filtered by the Kalman filter algorithm. The processed acceleration value is substituted into the angle formula to calculate the tilt angle value (the tilt angle range is -90 to 90). After the data acquisition is completed, a set of angle data is output. If the tilt angle in this set of data exceeds the set threshold, it is judged that the manhole cover is inclined and an alarm message is uploaded. If none of them exceed the set threshold, it is judged as a malfunction and the device enters the low-power mode for standby monitoring.

[0037] Kalman filtering is a recursive algorithm that combines prediction and observation and can effectively eliminate the noise in the sensor data. In the present invention, the specific implementation process is as follows:

[0038] System modeling: Assume that the noise of the accelerometer follows a Gaussian distribution, and establish a state equation (prediction model) and an observation equation. For example, the state variable is the true acceleration value, and the observed value is the acceleration value actually collected by the sensor.

[0039] Prediction step: According to the state estimate value at the previous moment and the system dynamic model, predict the state (acceleration value) and its error covariance at the current moment.

[0040] Update step: Combine the observed value at the current moment (the acceleration value collected by the sensor), and dynamically adjust the predicted value through the Kalman gain to obtain the filtered acceleration value of the optimal estimate.

[0041] It should be noted that the calculation of the tilt angle is based on the response principle of the accelerometer in a static gravitational field. The specific steps are as follows:

[0042] Formula derivation: When the manhole cover is stationary, the component of the Z-axis of the accelerometer corresponds to the gravitational acceleration (g). If the tilt angle of the manhole cover is θ, the theoretical value of the Z-axis acceleration is: a z = g·cosθ. The tilt angle can be solved through the inverse trigonometric function: θ = arccos(a z / g).

[0043] Actual implementation: Substitute the filtered Z-axis acceleration value into the above formula to obtain the real-time tilt angle of the manhole cover.

[0044] Calibration and optimization: Considering the actual installation error or the deviation of the gravity direction, zero calibration needs to be performed during initialization (for example, correcting the acceleration reference value in the horizontal state).

[0045] Through this method, the present invention converts the filtered acceleration value into an intuitive tilt angle, and combines a preset threshold (such as 10° or 15°) to judge whether to trigger an alarm, thereby realizing the intelligent monitoring of the manhole cover status.

[0046] The present invention calculates the tilt angle value of the manhole cover through the acceleration value of the manhole cover collected by the sensor, and realizes the monitoring of the real-time status of the manhole cover based on the tilt angle value of the manhole cover, effectively solving the problems of low efficiency and slow response of traditional manual inspections, and realizing the intelligent safety control of urban manhole covers.

[0047] The present invention also provides a manhole cover monitoring system, including:

[0048] A signal acquisition module for collecting the acceleration value of the manhole cover and uploading the acceleration value to the single-chip microcomputer;

[0049] A filtering module for filtering the acceleration value to obtain the filtered acceleration value;

[0050] A tilt angle calculation module for calculating the tilt angle value of the manhole cover according to the filtered acceleration value;

[0051] An alarm module for judging whether the current tilt angle value exceeds a preset threshold, and issuing a manhole cover tilt alarm when the tilt angle value exceeds the preset threshold.

[0052] In the filtering module, the Kalman filtering algorithm is used to filter the Z-axis acceleration value collected by the accelerometer to obtain the filtered acceleration value.

[0053] The present invention also provides an electronic device, comprising a bus, a transceiver, a memory, a processor, and a computer program stored on the memory and executable on the processor. The transceiver, the memory, and the processor are connected through the bus. It is characterized in that when the computer program is executed by the processor, the steps in the above-mentioned manhole cover monitoring method are implemented.

[0054] The present invention also provides a computer-readable storage medium, on which a computer program is stored. It is characterized in that when the computer program is executed by a processor, the steps in the above-mentioned manhole cover monitoring method are implemented. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present invention are the same as those of the manhole cover monitoring method described in the above technical solution, and will not be elaborated herein.

[0055] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of technical solutions of changes or substitutions, and all of them should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A manhole cover monitoring method, characterized in that, Including: Step 1: Collect the acceleration value of the manhole cover and upload the acceleration value to the single-chip microcomputer; Step 2: Perform filtering processing on the acceleration value to obtain the filtered acceleration value; Step 3: Calculate the tilt angle value of the manhole cover according to the filtered acceleration value; Step 4: Determine whether the current tilt angle value exceeds a preset threshold, and issue a manhole cover tilt alarm when the tilt angle value exceeds the preset threshold.

2. The manhole cover monitoring method according to claim 1, characterized in that In Step 1, after powering on and starting the single-chip microcomputer, the single-chip microcomputer is in a low-power mode. The acceleration value of the manhole cover is collected using an accelerometer sensor. When the acceleration value collected by the accelerometer sensor is greater than the wake-up threshold, the interrupt pin of the accelerometer sensor triggers a signal. After receiving the signal of the interrupt pin, the single-chip microcomputer exits from the low-power mode and obtains the acceleration value of the Z-axis of the accelerometer.

3. The manhole cover monitoring method according to claim 2, characterized in that In Step 2, the Kalman filtering algorithm is used to perform filtering processing on the Z-axis acceleration value collected by the accelerometer to obtain the filtered acceleration value.

4. A manhole cover monitoring system, characterized in that, Including: A signal acquisition module, which is used to collect the acceleration value of the manhole cover and upload the acceleration value to the single-chip microcomputer; A filtering module, which is used to perform filtering processing on the acceleration value to obtain the filtered acceleration value; A tilt angle calculation module, which is used to calculate the tilt angle value of the manhole cover according to the filtered acceleration value; An alarm module, which is used to determine whether the current tilt angle value exceeds a preset threshold, and issue a manhole cover tilt alarm when the tilt angle value exceeds the preset threshold.

5. The manhole cover monitoring system according to claim 4, wherein After powering on and starting the single-chip microcomputer, the single-chip microcomputer is in a low-power mode. The acceleration value of the manhole cover is collected using an accelerometer sensor. When the acceleration value collected by the accelerometer sensor is greater than the wake-up threshold, the interrupt pin of the accelerometer sensor triggers a signal. After receiving the signal of the interrupt pin, the single-chip microcomputer exits from the low-power mode and obtains the acceleration value of the Z-axis of the accelerometer.

6. The manhole cover monitoring system according to claim 5, characterized in that, In the filtering module, the Kalman filtering algorithm is used to perform filtering processing on the Z-axis acceleration value collected by the accelerometer to obtain the filtered acceleration value.

7. An electronic device, comprising a bus, a transceiver, a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the transceiver, the memory, and the processor are connected via the bus, characterized in that, When the computer program is executed by the processor, it implements the steps in a manhole cover monitoring method as described in any one of claims 1-3.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps in a manhole cover monitoring method as described in any one of claims 1-3.

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