Ice condensation disaster monitoring method and device for high-altitude tunnel portal and computer readable storage medium

Abstract

The invention relates to the technical field of disaster monitoring, and particularly discloses an ice-condensation disaster monitoring method and device for a high-altitude tunnel portal and a computer readable storage medium, and the method comprises the steps: determining ice-condensation related parameters of the high-altitude tunnel portal; analyzing the freezing related parameters, and determining freezing core parameters; arranging a mobile monitoring device at the portal of the high-altitude tunnel, and acquiring real-time monitoring data of the portal of the high-altitude tunnel according to the freezing core parameters based on the mobile monitoring device; executing a three-dimensional meteorological field reconstruction operation based on the real-time monitoring data to generate a reconstructed meteorological field; and generating a disaster monitoring result based on the reconstructed meteorological field. By combining the actual physical characteristics of the high-altitude tunnel portal, the ice condensation mechanism is analyzed, and ice condensation monitoring and early warning are performed around the ice condensation core parameters, so that the real-time performance, the accuracy and the comprehensiveness of ice condensation monitoring are improved, and the actual requirements of enterprises are met.

Description

Technical Field

[0001] The present invention relates to the field of disaster monitoring technology, and in particular to a method, device and computer-readable storage medium for monitoring ice condensation disasters at high-altitude tunnel entrances. Background Art

[0002] With the continuous development of the domestic economy, people have higher and higher requirements for the convenience of transportation. In order to improve the convenience of transportation, especially for transportation in plateaus, mountainous areas and other areas, it is necessary to open corresponding tunnels to greatly improve traffic efficiency and shorten travel time.

[0003] Tunnels built in plateau areas are quite different from those in ordinary areas. The entrance section of high-altitude tunnels faces complex meteorological conditions such as extreme low temperature (below -30°C), strong wind (instantaneous wind speed>15m / s), low pressure (altitude>4000m), and drastic sunshine fluctuations (temperature difference between day and night>30°C), which lead to diverse and highly coupled factors of ice condensation disasters. Traditional monitoring methods are difficult to accurately capture the critical state of disasters, and prevention and control measures often fail due to missing data.

[0004] On the other hand, after detecting ice at the tunnel entrance, the method of spraying salt solution is generally used to melt the ice, but this method relies on chemical de-icing agents, which corrodes equipment and pollutes the environment in long-term use. Technicians have also conceived of using other single de-icing methods, such as heating the line with direct current to melt the ice, but this requires manual auxiliary wiring and is not suitable for non-conductive structures (such as tunnel linings), so it cannot meet actual needs. Summary of the invention

[0005] In order to overcome the above-mentioned technical problems existing in the prior art, the embodiments of the present invention provide a method, device and computer-readable storage medium for monitoring ice condensation disasters at high-altitude tunnel entrances. By combining the actual physical characteristics of high-altitude tunnel entrances, the ice condensation mechanism is analyzed, and ice condensation monitoring and early warning are carried out around the core parameters of ice condensation, thereby improving the real-time, accuracy and comprehensiveness of ice condensation monitoring and meeting the actual needs of enterprises.

[0006] In order to achieve the above-mentioned objectives, an embodiment of the present invention provides a method for monitoring ice condensation disasters at high-altitude tunnel entrances, the method comprising: determining ice condensation-related parameters at high-altitude tunnel entrances; analyzing the ice condensation-related parameters to determine ice condensation core parameters; deploying a mobile monitoring device at the high-altitude tunnel entrance, and obtaining real-time monitoring data of the high-altitude tunnel entrance based on the mobile monitoring device according to the ice condensation core parameters; performing a three-dimensional meteorological field reconstruction operation based on the real-time monitoring data to generate a reconstructed meteorological field; and generating disaster monitoring results based on the reconstructed meteorological field.

[0007] Preferably, analyzing the ice formation related parameters to determine the core ice formation parameters includes: establishing an ice formation analysis model; performing single-parameter tests and coupling effect tests on the ice formation related parameters based on the ice formation analysis model to obtain a first test result; determining preliminary core parameters based on the first test result; performing a simulated on-site test based on the preliminary core parameters to obtain a second test result; and determining the core ice formation parameters based on the second test result.

[0008] Preferably, the method further includes: before deploying the mobile monitoring device, obtaining the environmental data of the high-altitude tunnel entrance; determining the limit data based on the environmental data and a preset safety threshold, and obtaining the parameter accuracy corresponding to the core ice formation parameters; determining an initial configuration plan for the mobile monitoring device, where the initial configuration plan includes sensor configuration data, sensor configuration positions, physical strength design information, and internal environment maintenance information; adjusting the sensor configuration data based on the limit data and the parameter accuracy to obtain adjusted sensors; obtaining the environmental requirement information of the adjusted sensors, and optimizing the internal environment maintenance information based on the environmental requirement information to obtain optimized environmental maintenance information; adjusting the sensor configuration positions based on the optimized environmental maintenance information to obtain adjusted positions; optimizing the physical strength design information based on the limit data to obtain optimized strength design information; and manufacturing the mobile monitoring device based on the adjusted sensors, the optimized environmental maintenance information, the adjusted positions, and the optimized strength design information.

[0009] Preferably, obtaining the real-time monitoring data of the high-altitude tunnel entrance includes: determining the contribution rate of each parameter in the core ice formation parameters; obtaining the current real-time monitoring data, analyzing the ice formation speed of the high-altitude tunnel entrance according to the current real-time monitoring data and the contribution rate to generate an ice formation speed analysis result; obtaining an initial monitoring frequency, and adjusting the initial monitoring frequency in real time based on the ice formation speed analysis result to obtain an adjusted monitoring frequency; and obtaining the real-time monitoring data of the high-altitude tunnel entrance based on the adjusted monitoring frequency.

[0010] Preferably, the real-time monitoring data includes temperature data, humidity data, wind speed data, air pressure data, wind direction data, light intensity data, rainfall / snowfall data, and ice layer thickness data. The three-dimensional meteorological field reconstruction operation is performed based on the real-time monitoring data to generate a reconstructed meteorological field, including: performing a preprocessing operation on the real-time monitoring data to obtain preprocessed data; generating a three-dimensional distribution cloud map of the wind speed field based on the preprocessed wind speed data and wind direction data; generating a three-dimensional distribution cloud map of the temperature field based on the preprocessed temperature data and light intensity data; generating a three-dimensional distribution cloud map of the humidity field based on the preprocessed humidity data and rainfall / snowfall data; obtaining the pollutant concentration, and determining the real-time freezing point data based on the pollutant concentration and the preprocessed air pressure data; generating a reconstructed meteorological field based on the three-dimensional distribution cloud map of the temperature field, the three-dimensional distribution cloud map of the humidity field, the three-dimensional distribution cloud map of the wind speed field, the preprocessed real-time freezing point data, and the preprocessed ice layer thickness data.

[0011] Preferably, generating a disaster monitoring result based on the reconstructed meteorological field includes: determining the overwind speed area and underwind speed area of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the wind speed field; determining the low-temperature duration and temperature difference range of each area of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the temperature field; determining the humidity change information of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the temperature field, the ice layer thickness data, and the three-dimensional distribution cloud map of the humidity field; generating a disaster monitoring result based on the overwind speed area, the underwind speed area, the low-temperature duration, the temperature difference range, and the humidity change information.

[0012] Preferably, the method further includes: after obtaining the disaster monitoring result, generating preliminary ice condensation prediction information for the high-altitude tunnel entrance based on the low-temperature duration, the temperature difference range, and the humidity change information; optimizing the preliminary ice condensation prediction information based on the overwind speed area and the underwind speed area to generate optimized ice condensation prediction information; obtaining the current high-altitude position and determining the temperature stratification corresponding to the high-altitude position; adjusting the optimized ice condensation prediction information based on the temperature stratification to obtain adjusted prediction information; outputting corresponding warning information based on the adjusted prediction information.

[0013] Preferably, the mobile monitoring device further includes a microwave heating device and a mechanical de-icing arm, and the method further includes: after generating the warning information, determining the icing disaster stage of the high-altitude tunnel entrance based on the adjusted prediction information; if the icing disaster stage is the prevention stage, starting the hot air circulation system of the high-altitude tunnel entrance; if the icing disaster stage is the warning stage, applying an ice-repellent coating at the high-altitude tunnel entrance; if the icing disaster stage is the high-risk stage, controlling the microwave heating device to perform a directional microwave heating operation and controlling the mechanical de-icing arm to perform an active collaborative de-icing operation.

[0014] Correspondingly, the present invention also provides an icing disaster monitoring device for a high-altitude tunnel entrance, which is applied to the method provided by the embodiments of the present invention. The device includes: a parameter determination unit for determining icing-related parameters of the high-altitude tunnel entrance; an analysis unit for analyzing the icing-related parameters to determine core icing parameters; a data acquisition unit for deploying a mobile monitoring device at the high-altitude tunnel entrance and obtaining real-time monitoring data of the high-altitude tunnel entrance based on the mobile monitoring device according to the core icing parameters; a meteorological field reconstruction unit for performing a three-dimensional meteorological field reconstruction operation based on the real-time monitoring data to generate a reconstructed meteorological field; and a monitoring unit for generating a disaster monitoring result based on the reconstructed meteorological field.

[0015] On the other hand, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, it implements the method provided by the embodiments of the present invention.

[0016] Through the technical solution provided by the present invention, the present invention has at least the following technical effects:

[0017] By analyzing the icing formation mechanism of the high-altitude tunnel entrance, the core parameters that have a greater impact on icing are determined. On this basis, real-time monitoring data corresponding to the core parameters is collected by a mobile monitoring device that can operate stably and reliably in the extreme high-altitude environment, and disaster monitoring and analysis are performed using the reconstructed three-dimensional meteorological field, thereby generating real-time, accurate, and reliable disaster monitoring results.

[0018] Other features and advantages of the embodiments of the present invention will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings are used to provide a further understanding of the embodiments of the present invention, and constitute a part of the specification. They are used together with the following specific implementation manners to explain the embodiments of the present invention, but do not constitute a limitation to the embodiments of the present invention. In the drawings:

[0020] Figure 1It is a specific implementation flowchart of the icing disaster monitoring method for the high-altitude tunnel entrance provided by the embodiment of the present invention;

[0021] Figure 2 It is a schematic structural diagram of the icing disaster monitoring device for the high-altitude tunnel entrance provided by the embodiment of the present invention. Specific Embodiments

[0022] The following details the specific embodiments of the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for the purpose of illustrating and explaining the embodiments of the present invention, and are not used to limit the embodiments of the present invention.

[0023] The terms "system" and "network" in the embodiments of the present invention can be used interchangeably. "Multiple" means two or more. In view of this, in the embodiments of the present invention, "multiple" can also be understood as "at least two". "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " generally represents an "or" relationship between the front and rear associated objects unless otherwise specified. In addition, it should be understood that in the description of the embodiments of the present invention, the terms such as "first" and "second" are only used for the purpose of distinguishing descriptions, and cannot be understood as indicating or implying relative importance, nor can they be understood as indicating or implying order.

[0024] Please refer to Figure 1 , the embodiment of the present invention provides an icing disaster monitoring method for the high-altitude tunnel entrance, and the method includes:

[0025] S10: Determine the icing-related parameters of the high-altitude tunnel entrance;

[0026] S20: Analyze the icing-related parameters to determine the core icing parameters;

[0027] S30: Deploy a mobile monitoring device at the high-altitude tunnel entrance, and obtain the real-time monitoring data of the high-altitude tunnel entrance based on the mobile monitoring device according to the core icing parameters;

[0028] S40: Perform a three-dimensional meteorological field reconstruction operation based on the real-time monitoring data to generate a reconstructed meteorological field;

[0029] S50: Generate a disaster monitoring result based on the reconstructed meteorological field.

[0030] In a possible implementation, first, determine the ice condensation related parameters at the entrance of the high-altitude tunnel. These ice condensation related parameters can be all the parameters initially related to the ice condensation mechanism at the entrance of the high-altitude tunnel by technicians based on theoretical knowledge, actual observations, research, etc. Based on these parameters, there may be a large number of redundant parameters or low contribution parameters, which will have a greater impact on subsequent analysis and calculations and greatly increase the workload. Therefore, it is also necessary to screen them in combination with the analysis of the ice condensation related parameters to determine the core ice condensation parameters among them.

[0031] In the embodiment of the present invention, the analysis of the ice condensation related parameters to determine the core ice condensation parameters includes: establishing an ice condensation analysis model; performing single-parameter tests and coupling effect tests on the ice condensation related parameters based on the ice condensation analysis model to obtain the first test results; determining preliminary core parameters based on the first test results; performing simulated on-site tests based on the preliminary core parameters to obtain the second test results; and determining the core ice condensation parameters based on the second test results.

[0032] In a possible implementation, a combination of numerical simulation and on-site tests is used to reveal the influence law of the low-pressure environment on the freezing point temperature (for every 10 kPa decrease in air pressure, the freezing point rises by 0.6 - 1.2 °C) and the coupling effect of strong wind and light on the ice layer adhesion and melting rate, so as to comprehensively determine accurate core ice condensation parameters. Specifically, first establish an ice condensation analysis model. In the embodiment of the present invention, a multiple regression analysis method is used to establish the ice condensation analysis model, for example, it is characterized as.

[0033]

[0034]

[0035]

[0036] Among them, Tice and Tice' are the freezing point temperatures at different observation points, P and P' are the air pressures at different observation points, v and v' are the wind speeds at different observation points, I and I' are the light intensities at different observation points, is the model error term, which is determined according to specific observation data. After creating the above ice condensation analysis model, it can be run on a host computer or a computer and numerical simulation analysis can be carried out to determine the relatively important ice condensation parameters among them. For example, by performing single-parameter tests on each ice condensation related parameter to determine the influence degree of each parameter on ice condensation; then further performing coupling effect tests on the mutual cooperation of multiple parameters to determine the coupling influence degree of different parameters on the ice condensation effect; and preliminarily determining the relatively important ice condensation parameters. For example, the preliminarily determined relatively important core parameters include but are not limited to parameters such as temperature, humidity, air pressure, wind speed, wind direction, light intensity, rainfall / snowfall amount, and ice layer thickness.

[0037] Then, the method of on-site test is further adopted to conduct on-site simulation tests on the above preliminary core parameters. For example, an environment similar to the entrance of a high-altitude tunnel can be simulated and built, and different environmental parameters can be simulated through relevant equipment to verify the actual effects of the above preliminary core parameters and obtain the second test result. The ice condensation core parameters are determined according to the second test result. For example, by changing the air pressure alone (±10 kPa) and observing the change range of the freezing point (0.6~1.2 °C), it is found that its contribution rate reaches 40%. And under the combined action of strong wind (20 m / s) and high light intensity (800 W / m²), the ice layer adhesion force decreases by 60%, and the melting rate is increased to 1.8 times that under the action of a single parameter. In the embodiment of the present invention, eight parameters including temperature, humidity, air pressure, wind speed, wind direction, light intensity, rainfall / snowfall, and ice layer thickness are determined as the ice condensation core parameters.

[0038] After determining the ice condensation core parameters, a mobile monitoring device is arranged at the entrance of the high-altitude tunnel, and real-time monitoring data of the entrance of the high-altitude tunnel is obtained based on the mobile monitoring device according to the ice condensation core parameters. Since the entrance of the high-altitude tunnel belongs to a low-pressure, high-cold, and strong-wind area, conventional monitoring devices cannot meet the actual needs. For example, in some scenarios, the temperature at the entrance of the high-altitude tunnel may be lower than -40 °C, resulting in many sensors being unable to accurately monitor environmental data or the sensing accuracy being greatly reduced, unable to meet the actual needs.

[0039] To solve the above technical problems, it is necessary to design and manufacture the specific structure and configuration of the mobile monitoring device according to the actual scene characteristics of the entrance of the high-altitude tunnel to meet the actual needs of extreme scenarios.

[0040] In the embodiment of the present invention, the method further includes: before arranging the mobile monitoring device, obtaining the environmental data of the entrance of the high-altitude tunnel; determining the limit data based on the environmental data and the preset safety threshold, and obtaining the parameter accuracy corresponding to the ice condensation core parameters; determining the initial configuration scheme of the mobile monitoring device, where the initial configuration scheme includes sensor configuration data, sensor configuration positions, physical strength design information, and internal environment maintenance information; adjusting the sensor configuration data based on the limit data and the parameter accuracy to obtain the adjusted sensors; obtaining the environmental requirement information of the adjusted sensors, and optimizing the internal environment maintenance information based on the environmental requirement information to obtain the optimized environmental maintenance information; adjusting the sensor configuration positions based on the optimized environmental maintenance information to obtain the adjusted positions; optimizing the physical strength design information based on the limit data to obtain the optimized strength design information; and manufacturing the mobile monitoring device based on the adjusted sensors, the optimized environmental maintenance information, the adjusted positions, and the optimized strength design information.

[0041] In a possible implementation, first, obtain the environmental data of the high-altitude tunnel entrance, then determine the limit data based on the environmental data and the preset safety threshold, and obtain the parameter accuracy corresponding to the ice condensation core parameters. For example, according to the environmental data of the high-altitude tunnel entrance, the annual temperature in this area is generally 30 degrees to -40 degrees. In some extreme cases, there may be a fluctuation of ±20%. Therefore, based on the above content, the preset safety threshold is determined to be ±30%. Thus, the environmental data is determined to be 39 to -52°. On this basis, select sensors that can meet the corresponding adaptability. At the same time, obtain the parameter accuracy corresponding to the ice condensation core parameters. For example, it is required that the sensing accuracy of the humidity sensor reaches ±0.1°C, the sensing accuracy of the barometer reaches 0.1 hPa, the range of the ultrasonic wind speed and direction sensor reaches 0~30 m / s, the spectral range of the photosynthetic photon sensor reaches 400~700 nm, and the accuracy of the laser ranging ice thickness meter reaches ±1 mm. Based on the above constraints, select the sensors to meet the actual application requirements of extreme scenarios.

[0042] On this basis, obtain the initial configuration plan of the mobile monitoring device. This initial configuration plan is the initial design plan of the mobile monitoring device, including but not limited to sensor configuration data, sensor configuration positions, physical strength design information (the physical strength impact that the housing can withstand), internal environment maintenance information (the environmental conditions that can be maintained inside, such as the temperature range that can be maintained inside through a heating device, etc.) and other information.

[0043] Then, the sensor configuration data is adjusted according to the above limit number and parameter accuracy, that is, optimized selection is carried out to obtain the adjusted sensor. Since the adjusted sensor may still not be able to directly face the extreme environment, it is also necessary to obtain its environmental requirement information, and optimize the internal environment maintenance information according to the environmental requirement information to obtain the optimized environmental maintenance information, that is, it is necessary to ensure that the internal environment of the mobile monitoring device can provide the minimum environmental capacity to meet its normal operation. Then, the sensor configuration position is adjusted according to the optimized environmental maintenance information to obtain the adjusted position. For example, since the temperature of the side wall cannot be maintained in a higher range in the extreme low temperature environment, the sensor originally configured on the side wall is adjusted and installed at the middle position to ensure that its working environment is within a reasonable range. Finally, the physical strength design information is optimized according to the limit data to obtain the optimized strength design information. Since there may be accidents such as rockfalls and ice falls at the entrance of high-altitude tunnels, and these accidents may damage the mobile monitoring device, and due to the difficulty of maintenance at the entrance of high-altitude tunnels, in order to further improve its natural bearing capacity and ensure its working stability to the greatest extent, the physical strength of its shell is adaptively optimized and designed to obtain the optimized strength design information. For example, in the embodiment of the present invention, the mobile monitoring device uses an aviation aluminum magnesium alloy shell, is internally provided with a constant temperature heating module (operating temperature -40°C to 60°C), and the protection level is IP68. Finally, the optimized mobile monitoring device is manufactured according to the above information.

[0044] In the embodiment of the present invention, by adaptively optimizing and designing the parameters of the mobile monitoring device according to the actual environmental characteristics of the entrance of the high-altitude tunnel, it can meet the safety use requirements and high-precision monitoring requirements in the extreme environment, and ensure the stability and accuracy of subsequent data collection.

[0045] After manufacturing the above mobile monitoring device, it is configured. For example, in the embodiment of the present invention, it is necessary to collect real-time, comprehensive and accurate data on the three-dimensional space of the vault, side wall and road surface at the entrance of the high-altitude tunnel. At the same time, considering the enterprise operation cost, 3 mobile monitoring robots can be arranged within a range of 50 m longitudinally at the entrance, and dynamic inspection is realized through a rail or wheeled chassis, and a linkage control system is constructed from four aspects: spatial layout optimization, task dynamic allocation, communication and path planning, and abnormal working condition response. Specifically, its layout configuration scheme is as follows:

[0046] Vault: 1 robot uses a suspended rail + rotating pan-tilt to cover the top area of 20 m × 50 m (vertical height 5 - 25 m).

[0047] Side wall: 2 robots use wheeled chassis + telescopic robotic arms to be responsible for the left and right side walls respectively (each side covers a height of 0 - 20 m and a longitudinal length of 50 m).

[0048] Road surface: The sidewall robot chassis extends to the ground to synchronously scan road surface cracks or water accumulation (coverage width ±2m).

[0049] The above-mentioned multiple robots use lidar + UWB positioning to calculate the distance between robots in real time, ensuring that the longitudinal interval between adjacent robots is ≥10m (to avoid signal interference and inspection blind spots). For example, if robot A is located at longitudinal 0m, then B and C are respectively deployed at 15m and 35m, forming a "front - middle - rear" echelon. Then, the tasks for the area to be monitored are decoupled. For example, a 50m longitudinal space is divided into 5 sub - regions of 10m each, and the main inspection areas are assigned according to the robot numbers (A / B / C) (such as A is responsible for 0 - 10m, B is responsible for 10 - 20m...).

[0050] When performing monitoring tasks, task priorities are assigned to them. For example, considering the actual situation during the formation of freezing ice at the entrance of high - altitude tunnels, for the vault: full - coverage scanning is performed once every 10 minutes (using lidar + infrared thermal imaging). For the sidewalls / road surface: patrol is performed once every 5 minutes (using high - definition cameras + ultrasonic thickness measurement). Since the battery losses of different robots may not be the same (due to reasons such as different slopes, different planned paths, different battery capacities, and different battery qualities, resulting in inconsistent power consumption), it is necessary to dynamically adjust the regional boundaries according to the remaining battery power and task execution progress of the robots (for example, when the battery of robot A is insufficient, 20% of its tasks are transferred to B) to balance their working capabilities and ensure that all areas can be reliably monitored.

[0051] During the monitoring process, the robots share local maps (constructed through SLAM technology). When an obstacle (such as a falling rock) is detected, the main control node re - plans the path; for example, the blocked robot pauses, and adjacent robots adjust their speeds (such as reducing speed by 50%) and detour. When there is a path conflict, a priority queue is used (the robot with low battery has priority to pass). At the same time, energy consumption optimization is carried out for each robot to ensure its maximum working ability. Specifically, the Dijkstra algorithm can be used to calculate the shortest path by combining the current position of the robot and the task point, and high - slope areas are avoided (the energy consumption of wheeled chassis increases by 30%).

[0052] In the actual application process, robots may encounter unexpected events during the operation at the entrance of high - altitude tunnels. To ensure the operation safety of the robots and timely adjust the supervision plan, intelligent response is required for them. For example, in the first embodiment, situations such as falling rocks and ice falling on the top of the tunnel entrance occur. At this time, if the lidar on the robot detects an obstacle >0.1m³, the following linkages are triggered: the alarm signal is uploaded to the monitoring center through 5G; robots A / B / C start high - frequency scanning synchronously (the frequency is increased to 1Hz) to generate a 3D model of the obstacle; the main control node calculates the optimal obstacle - avoidance path and notifies the vehicles / personnel behind to decelerate (through an acoustic - optic alarm).

[0053] In the second embodiment, water seepage occurred, which might cause serious damage to the use of the robot. Therefore, once the humidity sensor triggered an alarm, the robot B / C was immediately controlled to expand the detection range to the adjacent 10m area, quickly locate the water seepage source, and feedback the corresponding detection information to assist technicians in taking corresponding response measures in a timely manner, ensuring the safety of the robot during use, and timely adjusting the monitoring strategy to ensure the reliability and accuracy of data collection within the entire high-altitude tunnel entrance.

[0054] When performing real-time data collection, since the meteorological environment within the high-altitude tunnel entrance may change significantly, in order to ensure the real-time and reliable data collection of the robot, the robot needs to perform adaptive optimization control to ensure the accuracy of the data.

[0055] In the embodiment of the present invention, obtaining the real-time monitoring data of the high-altitude tunnel entrance includes: determining the contribution rate of each parameter in the ice condensation core parameters; obtaining the current real-time monitoring data, analyzing the ice condensation generation speed of the high-altitude tunnel entrance according to the current real-time monitoring data and the contribution rate, and generating an ice condensation speed analysis result; obtaining the initial monitoring frequency, adjusting the initial monitoring frequency in real time based on the ice condensation speed analysis result to obtain the adjusted monitoring frequency; and obtaining the real-time monitoring data of the high-altitude tunnel entrance based on the adjusted monitoring frequency.

[0056] In a possible implementation manner, first determine the contribution rate of each parameter in the ice condensation core parameters, and then obtain the current real-time monitoring data. According to the current real-time monitoring data, it is possible to evaluate the current meteorological conditions at the high-altitude tunnel entrance. Specifically, analyze the ice condensation generation speed of the high-altitude tunnel entrance according to the real-time monitoring data (i.e., the current meteorological conditions) and the contribution rate to generate an ice condensation speed analysis result. For example, when it is detected that the current wind speed > 5m / s, it is further analyzed that the ice condensation generation speed increases. Therefore, the high-frequency monitoring mode can be switched. For example, by default, the robot uses the initial monitoring frequency to collect data. When it is determined that the ice condensation speed increases, adjust the initial monitoring frequency in real time based on the ice condensation speed analysis result to obtain the adjusted monitoring frequency, and then obtain the real-time monitoring data of the high-altitude tunnel entrance according to the adjusted monitoring frequency, thereby effectively improving the real-time, accuracy, and reliability of data monitoring at the high-altitude tunnel entrance.

[0057] After obtaining the original real-time monitoring data, in order to achieve accurate and convenient analysis of the high-altitude tunnel entrance, three-dimensional meteorological reconstruction is performed on it. Specifically, in the embodiment of the present invention, the real-time monitoring data includes temperature data, humidity data, wind speed data, air pressure data, wind direction data, light intensity data, rainfall / snowfall data, and ice layer thickness data. The three-dimensional meteorological field reconstruction operation is performed based on the real-time monitoring data to generate a reconstructed meteorological field, including: performing a preprocessing operation on the real-time monitoring data to obtain preprocessed data; generating a three-dimensional distribution cloud map of the wind speed field based on the preprocessed wind speed data and wind direction data; generating a three-dimensional distribution cloud map of the temperature field based on the preprocessed temperature data and light intensity data; generating a three-dimensional distribution cloud map of the humidity field based on the preprocessed humidity data and rainfall / snowfall data; obtaining the pollutant concentration, and determining the real-time freezing point data based on the pollutant concentration and the preprocessed air pressure data; generating a reconstructed meteorological field based on the three-dimensional distribution cloud map of the temperature field, the three-dimensional distribution cloud map of the humidity field, the three-dimensional distribution cloud map of the wind speed field, the preprocessed real-time freezing point data, and the preprocessed ice layer thickness data.

[0058] In a possible implementation manner, first, a preprocessing operation is performed on the real-time monitoring data. For example, the initially obtained real-time monitoring data is processed by using the Kalman filter and spatio-temporal interpolation technology to eliminate sensor noise and complement local missing data. Then, a three-dimensional distribution cloud map of the wind speed field is generated based on the preprocessed wind speed data and wind direction data. Specifically, the preprocessed wind speed data and wind direction data are converted into corresponding three-dimensional space distribution data, and then the wind direction data is converted into the vector components (u, v, w) of the wind speed, where the horizontal components are: u = -wind speed × sin(wind direction angle), v = -wind speed × cos(wind direction angle), and the vertical component w is usually small or zero (unless there is special vertical motion data). Then, the above data is input into visualization software to realize the generation of the three-dimensional distribution cloud map of the wind speed field.

[0059] Then, a three-dimensional distribution cloud map of the temperature field is generated based on the preprocessed temperature data and light intensity data. For example, after aligning the coordinate system and resolution of the preprocessed temperature data and light intensity data, they are input into visualization software to realize the generation of the three-dimensional distribution cloud map of the temperature field. And based on the same principle, a three-dimensional distribution cloud map of the humidity field is generated based on the preprocessed humidity data and rainfall / snowfall data.

[0060] Since different air pressures and the pollutant concentration on the ice-covered surface (such as de-icing agent residues) can both affect the freezing point and further affect the subsequent ice accretion degree and ice accretion process, the real-time freezing point data is further determined based on the pre-processed air pressure data, so as to further determine the synergistic effect of the freezing point data and each ice accretion core parameter on the ice accretion process at the high-altitude tunnel entrance during the subsequent analysis process. Finally, a reconstructed meteorological field is generated based on the above-mentioned respective sectional cloud maps, real-time freezing point data, and pre-processed ice layer thickness data.

[0061] In the embodiment of the present invention, by combining the actual physical mechanism in the ice accretion process at the high-altitude tunnel entrance, a three-dimensional distribution cloud map of the wind speed field is generated according to the synergistic effect of the wind speed and wind direction in the ice accretion process, a three-dimensional distribution cloud map of the temperature field is generated according to the synergistic effect of the temperature and light intensity in the ice accretion process, and a three-dimensional distribution cloud map of the humidity field is generated according to the synergistic effect of the humidity and rainfall / snowfall amount in the ice accretion process. At the same time, by further combining the real-time freezing point data and the ice layer thickness data to reconstruct the three-dimensional meteorological field, the accurate reproduction of the ice accretion mechanism is realized, and the accurate ice accretion data of all monitoring areas at the high-altitude tunnel entrance can be output in real time, providing data support for subsequent further processing.

[0062] In the embodiment of the present invention, generating a disaster monitoring result based on the reconstructed meteorological field includes: determining the over-wind speed area and under-wind speed area of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the wind speed field; determining the low-temperature duration and temperature difference range of each area of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the temperature field; determining the humidity change information of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the temperature field, the ice layer thickness data, and the three-dimensional distribution cloud map of the humidity field; and generating a disaster monitoring result based on the over-wind speed area, the under-wind speed area, the low-temperature duration, the temperature difference range, and the humidity change information.

[0063] In a possible implementation manner, the over-wind speed area and under-wind speed area of the high-altitude tunnel entrance are determined according to the three-dimensional distribution cloud map of the wind speed field. According to the above over-wind speed area and under-wind speed area, areas such as the shaded side wall and the low-lying road surface of the high-altitude tunnel entrance can be determined, and further the high-risk ice accretion areas can be identified; the low-temperature duration and temperature difference range of each area of the high-altitude tunnel entrance are determined according to the three-dimensional distribution cloud map of the temperature field, so that the "black ice" risk area of the high-altitude tunnel entrance can be analyzed, and further the high-risk ice accretion areas therein can be determined; the humidity change information of the high-altitude tunnel entrance is determined according to the three-dimensional distribution cloud map of the temperature field, the ice layer thickness data, and the three-dimensional distribution cloud map of the humidity field, and further the influence degree on the ice accretion process is evaluated. Finally, a disaster monitoring result is generated according to the above information.

[0064] For example, by creating a disaster-causing threshold model to evaluate the disaster-causing level of the high-altitude tunnel entrance. For example, define the Icing Risk Index (IRI or IRI'):

[0065]

[0066]

[0067] where T_freeze is the dynamic freezing point temperature after correcting the air pressure, is the weight coefficient, RH is the relative humidity, P is the current air pressure, P0 is the standard sea-level air pressure, P / P0 is used to describe the degree of approach of the air to the saturation state. The larger the value of P / P0, the closer the air is to saturation, and the higher the icing risk. P0 / P is used to describe the influence of air pressure on the saturated water vapor pressure. In high-altitude areas, the air pressure is low (P decreases), and the ratio of P0 / P increases, which may exacerbate the icing risk.

[0068] Based on the above data and analysis results monitored by IRI, the current icing level of the high-altitude tunnel entrance can be accurately evaluated, so as to facilitate the subsequent prevention and control work arrangements for technicians.

[0069] In the embodiment of the present invention, the method further includes: after obtaining the disaster monitoring result, generating preliminary icing prediction information for the high-altitude tunnel entrance based on the low-temperature duration, the temperature difference range, and the humidity change information; optimizing the preliminary icing prediction information based on the overwind speed area and the underwind speed area to generate optimized icing prediction information; obtaining the current high-altitude position and determining the temperature stratification corresponding to the high-altitude position; adjusting the optimized icing prediction information based on the temperature stratification to obtain adjusted prediction information; and outputting corresponding warning information based on the adjusted prediction information.

[0070] In a possible implementation manner, after obtaining the disaster monitoring result, further generate preliminary icing prediction information for the high-altitude tunnel entrance according to the low-temperature duration, the temperature difference range, and the humidity change information, that is, first predict the icing situation of the high-altitude tunnel entrance based on the basic environmental data of the high-altitude tunnel entrance to generate preliminary icing prediction information. Then optimize the preliminary icing prediction information based on the overwind speed area and the underwind speed area to generate optimized icing prediction information. Specifically, for the overwind speed area, it will greatly increase the convection between the object surface and the air and accelerate cooling and icing, so the icing effect in this area is stronger than that in the normal wind speed area; for the underwind speed area, it will cause the enrichment of moisture, and under the combined action of moisture and low temperature, the icing effect will be increased, and the icing effect and icing result will be strengthened.

[0071] In the actual application process, due to the high altitude of the tunnel entrance, which is in a relatively high environment. Different from the ordinary environment, the high altitude area may be in a specific temperature stratification (such as an inversion layer), resulting in the formation of additional freezing rain and further exacerbating the rapid accumulation of ice (such as icing on transmission lines). Therefore, in the embodiments of the present invention, the current high altitude position is further obtained, and the corresponding temperature stratification is determined. If the current temperature stratification is an inversion layer, the optimized ice accretion prediction information is further adjusted to obtain the adjusted prediction information. Finally, ice accretion analysis is performed on the accurately optimized prediction information, and corresponding warning information is output according to the analysis result. For example, in one embodiment, according to the prediction information, it is mapped to the above-mentioned ice accretion risk index, and it is determined that the IRI of the current high altitude tunnel entrance is 0.7, that is, it belongs to the high-risk level. Therefore, the warning information is immediately fed back, and technicians are required to go to the site immediately for deicing operations to ensure traffic safety.

[0072] In the embodiments of the present invention, the mobile monitoring device further includes a microwave heating device and a mechanical deicing arm. The method further includes: after generating the warning information, determining the ice accretion disaster-causing stage of the high altitude tunnel entrance based on the adjusted prediction information; if the ice accretion disaster-causing stage is the prevention stage, starting the hot air circulation system of the high altitude tunnel entrance; if the ice accretion disaster-causing stage is the warning stage, applying an ice-repellent coating at the high altitude tunnel entrance; if the ice accretion disaster-causing stage is the high-risk stage, controlling the microwave heating device to perform directional microwave heating operations, and controlling the mechanical deicing arm to perform active deicing operations.

[0073] In a possible implementation manner, different ice accretion disaster-causing stages are defined according to the size of IRI as follows: IRI≤0.3 (safe), 0.3<IRI≤0.6 (warning), IRI>0.6 (high risk). Therefore, in this embodiment, after generating the warning information, the ice accretion disaster-causing stage of the high altitude tunnel entrance is determined according to the adjusted prediction information. For example, if it is found that the current high altitude tunnel entrance will reach the warning level within the next 12 hours, technicians are immediately dispatched to apply an ice-repellent coating (such as a fluorosilicon nanomaterial) at the high altitude tunnel entrance. If it is found that the current high altitude tunnel entrance is in the high-risk stage, the mobile monitoring device is immediately controlled to go to the corresponding area, and the microwave heating device is used to perform directional microwave heating operations to perform directional microwave removal of the ice accretion in a specific area. At the same time, the mechanical deicing arm is controlled to perform active collaborative deicing operations to effectively improve the deicing efficiency and deicing effect, and ensure the traffic safety of the high altitude tunnel entrance.

[0074] Please refer to Figure 2 , based on the same inventive concept, the embodiments of the present invention provide an ice accretion disaster monitoring device for a high altitude tunnel entrance, which is applied to the method according to the embodiments of the present invention. The device includes:

[0075] A parameter determination unit for determining icing-related parameters at the entrance of a high-altitude tunnel;

[0076] An analysis unit for analyzing the icing-related parameters to determine the core icing parameters;

[0077] A data acquisition unit for deploying a mobile monitoring device at the entrance of a high-altitude tunnel and obtaining real-time monitoring data of the high-altitude tunnel entrance based on the mobile monitoring device according to the core icing parameters;

[0078] A meteorological field reconstruction unit for performing a three-dimensional meteorological field reconstruction operation based on the real-time monitoring data to generate a reconstructed meteorological field;

[0079] A monitoring unit for generating a disaster monitoring result based on the reconstructed meteorological field.

[0080] Furthermore, an embodiment of the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in the embodiment of the present invention is implemented.

[0081] The optional implementation manners of the embodiment of the present invention have been described in detail above with reference to the accompanying drawings. However, the embodiment of the present invention is not limited to the specific details in the above implementation manners. Within the technical concept scope of the embodiment of the present invention, various simple modifications can be made to the technical solution of the embodiment of the present invention, and these simple modifications all fall within the protection scope of the embodiment of the present invention.

[0082] In addition, it should be noted that, among the various specific technical features described in the above specific implementation manners, they can be combined in any appropriate manner without conflict. To avoid unnecessary repetition, the embodiment of the present invention does not separately describe various possible combination manners.

[0083] Those skilled in the art can understand that all or part of the steps of implementing the method in the above embodiments can be completed by instructing relevant hardware through a program, and the program is stored in a storage medium, including several instructions for causing a single-chip microcomputer, a chip, or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: various media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk, or an optical disc that can store program codes.

[0084] In addition, any combination can be made between various different implementation manners of the embodiment of the present invention, as long as it does not violate the idea of the embodiment of the present invention, and it should also be regarded as the content disclosed by the embodiment of the present invention.

Claims

1. A method for monitoring icing disasters at the entrance of high-altitude tunnels, characterized in that, The method includes: Determine the ice condensation related parameters of the high altitude tunnel entrance; Analyze the ice condensation related parameters to determine the core ice condensation parameters; Deploy a mobile monitoring device at the high altitude tunnel entrance, and based on the mobile monitoring device, obtain the real-time monitoring data of the high altitude tunnel entrance according to the core ice condensation parameters; Perform a three-dimensional meteorological field reconstruction operation based on the real-time monitoring data to generate a reconstructed meteorological field; Generate a disaster monitoring result based on the reconstructed meteorological field.

2. The method according to claim 1, wherein The analyzing the ice condensation related parameters to determine the core ice condensation parameters includes: Establish an ice condensation analysis model; Perform single parameter tests and coupling effect tests on the ice condensation related parameters based on the ice condensation analysis model to obtain a first test result; Determine preliminary core parameters based on the first test result; Perform a simulated on-site test based on the preliminary core parameters to obtain a second test result; Determine the core ice condensation parameters based on the second test result.

3. The method according to claim 1, characterized in that The method further includes: Before deploying the mobile monitoring device, obtain the environmental data of the high altitude tunnel entrance; Determine limit data based on the environmental data and a preset safety threshold, and obtain the parameter accuracy corresponding to the core ice condensation parameters; Determine the initial configuration plan of the mobile monitoring device, where the initial configuration plan includes sensor configuration data, sensor configuration positions, physical strength design information, and internal environment maintenance information; Adjust the sensor configuration data based on the limit data and the parameter accuracy to obtain adjusted sensors; Obtain the environmental requirement information of the adjusted sensors, and optimize the internal environment maintenance information based on the environmental requirement information to obtain optimized internal environment maintenance information; Adjust the sensor configuration positions based on the optimized internal environment maintenance information to obtain adjusted positions; Optimize the physical strength design information based on the limit data to obtain optimized strength design information; Manufacture the mobile monitoring device based on the adjusted sensors, the optimized internal environment maintenance information, the adjusted positions, and the optimized strength design information.

4. The method according to claim 1, characterized in that, The obtaining the real-time monitoring data of the high altitude tunnel entrance includes: Determine the contribution rate of each parameter in the core ice condensation parameters; Obtain current real-time monitoring data, and analyze the ice condensation generation speed of the high altitude tunnel entrance according to the current real-time monitoring data and the contribution rate to generate an ice condensation speed analysis result; Obtain an initial monitoring frequency, and perform real-time adjustment on the initial monitoring frequency based on the ice condensation speed analysis result to obtain an adjusted monitoring frequency; Obtain the real-time monitoring data of the high altitude tunnel entrance based on the adjusted monitoring frequency.

5. The method according to claim 1, characterized in that The real-time monitoring data includes temperature data, humidity data, wind speed data, air pressure data, wind direction data, light intensity data, rainfall / snowfall data, and ice layer thickness data. The performing a three-dimensional meteorological field reconstruction operation based on the real-time monitoring data to generate a reconstructed meteorological field includes: Perform a preprocessing operation on the real-time monitoring data to obtain preprocessed data; Generate a three-dimensional distribution cloud map of the wind speed field based on the preprocessed wind speed data and wind direction data; Generate a three-dimensional distribution cloud map of the temperature field based on the preprocessed temperature data and light intensity data; Generate a three-dimensional distribution cloud map of the humidity field based on the preprocessed humidity data and rainfall / snowfall data; Obtain the pollutant concentration, and determine the real-time freezing point data based on the pollutant concentration and the preprocessed air pressure data; Generate a reconstructed meteorological field based on the three-dimensional distribution cloud map of the temperature field, the three-dimensional distribution cloud map of the humidity field, the three-dimensional distribution cloud map of the wind speed field, the preprocessed real-time freezing point data, and the preprocessed ice layer thickness data.

6. The method according to claim 5, characterized in that, Generating a disaster monitoring result based on the reconstructed meteorological field includes: Determine the overwind speed area and underwind speed area of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the wind speed field; Determine the low-temperature duration and temperature difference range of each area of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the temperature field; Determine the humidity change information of the high-altitude tunnel entrance based on the three-dimensional distribution cloud map of the temperature field, the ice layer thickness data, and the three-dimensional distribution cloud map of the humidity field; Generate a disaster monitoring result based on the overwind speed area, the underwind speed area, the low-temperature duration, the temperature difference range, and the humidity change information.

7. The method according to claim 6, wherein The method further includes: After obtaining the disaster monitoring result, generate preliminary icing prediction information for the high-altitude tunnel entrance based on the low-temperature duration, the temperature difference range, and the humidity change information; Optimize the preliminary icing prediction information based on the overwind speed area and the underwind speed area to generate optimized icing prediction information; Obtain the current high-altitude position and determine the temperature stratification corresponding to the high-altitude position; Adjust the optimized icing prediction information based on the temperature stratification to obtain adjusted prediction information; Output corresponding early warning information based on the adjusted prediction information.

8. The method according to claim 7, wherein The mobile monitoring device further includes a microwave heating device and a mechanical deicing arm, and the method further includes: After generating the early warning information, determine the icing disaster-causing stage of the high-altitude tunnel entrance based on the adjusted prediction information; If the icing disaster-causing stage is the prevention stage, start the hot air circulation system of the high-altitude tunnel entrance; If the icing disaster-causing stage is the early warning stage, apply an ice-repellent coating at the high-altitude tunnel entrance; If the icing disaster-causing stage is the high-risk stage, control the microwave heating device to perform a directional microwave heating operation, and control the mechanical deicing arm to perform an active collaborative deicing operation.

9. A monitoring device for icing disasters at the entrance of a high-altitude tunnel, characterized in that, Applied to the method according to any one of claims 1-8, the device includes: A parameter determination unit for determining icing-related parameters of the high-altitude tunnel entrance; An analysis unit for analyzing the icing-related parameters to determine the core icing parameters; A data acquisition unit for deploying a mobile monitoring device at the high-altitude tunnel entrance and obtaining real-time monitoring data of the high-altitude tunnel entrance based on the mobile monitoring device according to the core icing parameters; A meteorological field reconstruction unit for performing a three-dimensional meteorological field reconstruction operation based on the real-time monitoring data to generate a reconstructed meteorological field; A monitoring unit for generating a disaster monitoring result based on the reconstructed meteorological field.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the method described in any one of claims 1-8.

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