Power transmission tower settlement monitoring method and system based on laser scanning measurement technology

Abstract

The invention provides a power transmission tower settlement monitoring method and system based on a laser scanning measurement technology, and the method comprises the following steps: scanning key points of a power transmission tower structure according to a preset time interval, the key points including a tower foot, a middle tower and a tower top of a power transmission tower; acquiring scanning data in real time; performing data processing on the received scanning data to obtain processed scanning data; and receiving the processed scanning data, carrying out real-time monitoring, giving an alarm when an abnormal condition is found, carrying out prediction and evaluation on historical data, and obtaining the settlement trend of the iron tower. According to the invention, through automatic laser scanning and real-time data acquisition at a preset time interval, unattended continuous monitoring is realized, and efficiency and data timeliness are significantly improved; through a real-time monitoring and threshold alarm mechanism, an abnormal alarm is triggered instantly; the settlement trend is predicted in combination with historical data, potential risks are found in advance, and the preventive maintenance capability is enhanced.

Description

Technical Field

[0001] This application relates to the technical field of power engineering monitoring, and particularly to a method and system for monitoring the settlement of transmission towers based on laser scanning measurement technology. Background Art

[0002] As a key supporting structure of the power transmission network, the stability of transmission towers is directly related to the safe operation of the power system. The settlement of towers is one of the important factors affecting their structural stability. Traditional settlement monitoring methods mainly rely on manual measurement, which have problems such as low efficiency, limited accuracy, poor real-time performance, and insufficient safety. With the development of laser scanning technology, it has become possible to use laser scanning for high-precision and automated measurement. However, how to achieve long-term, stable, and reliable monitoring in practical applications, especially in remote areas or harsh environments, is an urgent problem to be solved.

[0003] Chinese patent document CN118548854A provides "A Method and System for Monitoring the Inclination of Transmission Towers", which relates to a method and system for monitoring the inclination of transmission towers, including a solar panel, a 4G data processing center, and a tension sensor. The tension sensor is installed between the insulator and the transmission tower. The method includes: constructing a three-dimensional model for monitoring the transmission tower, obtaining cable material information, and constructing a finite element analysis model of the cable; obtaining the cable tension data of each transmission tower, and retrieving the corresponding tower monitoring tension data; querying the three-dimensional model for monitoring the transmission tower, retrieving the cable layout parameters of the transmission tower and the basic coordinates of the sensor, and constructing a group of tension analysis equations based on the cable layout parameters of the transmission tower and the tower monitoring tension data; constructing a group of position analysis equations to generate the result of monitoring the inclination of the transmission tower. By constructing a three-dimensional model for monitoring the transmission tower and recording historical data in the model, during the monitoring process, the inclination angle of the transmission tower is calculated by analyzing the tension data, improving the effectiveness of monitoring the inclination of the transmission tower. However, the transmission tower inclination monitoring system mainly focuses on the inclination angle of the transmission tower and mainly relies on tension data and three-dimensional models, which may not comprehensively reflect the settlement situation of the transmission tower. Moreover, the transmission tower inclination monitoring system is more suitable for relatively stable geographical environments. In complex terrains or harsh environments, the monitoring results of the inclination monitoring system may be greatly affected.

[0004] Chinese patent document CN118377015A provides "A Transmission Tower Inclination Monitoring System Based on 3D Imaging Technology". The system includes: a tower remote monitoring terminal, which is used to observe a transmission tower by carrying on a drone and using synthetic aperture radar to obtain N SAR single-look complex images, and perform imaging on the basis of the N SAR single-look complex images by using SAR tomography technology to obtain a transmission tower image; an information transmission module, which is used to encrypt and transmit the transmission tower image data obtained by the tower remote monitoring terminal to the tower remote monitoring platform; a tower remote monitoring platform, which is used to compare and analyze the obtained transmission tower image with the original transmission tower image data to obtain the tower inclination angle. This invention collects the transmission tower image based on 3D imaging technology, without the need to arrange monitoring equipment and manual operations on site, which can greatly improve the monitoring efficiency and reduce the labor cost, especially for areas with complex terrain and dangerous conditions where it is difficult for humans to enter. This system uses a drone and synthetic aperture radar (SAR) technology to monitor the inclination of the transmission tower, mainly focusing on the inclination angle of the transmission tower. Depending on image data and inclination angle analysis, it cannot comprehensively reflect the settlement situation of the tower. Moreover, the inclination monitoring system based on 3D imaging technology may be limited in real-time performance due to its dependence on drone flight and data processing, and it is difficult to achieve true real-time monitoring.

[0005] Chinese patent document CN116481494A provides "A Method and System for Monitoring the Inclination of a Tower", which relates to the technical field of tower monitoring. The monitoring method includes S1: obtaining a real-time first tower inclination angle collected by an inclination sensor; S2: processing the real-time first tower inclination angle according to a trained neural network to obtain a real-time second tower inclination angle; wherein, the neural network is trained by a historical first tower inclination angle collected by the inclination sensor and a historical second tower inclination angle collected by a lidar, and the collection time of the historical first tower inclination angle is the same as the collection time of the historical second tower inclination angle. This invention uses the real-time second tower inclination angle to characterize the current inclination degree of the tower, which can remove the interference caused by the offset of the inclination sensor itself and improve the accuracy of monitoring the tower inclination. This system uses a neural network and an inclination sensor to monitor the inclination of the tower. Although it can process real-time inclination angle data, its monitoring results mainly depend on the processing of the neural network, and there may be certain limitations in processing speed and real-time performance. The tower inclination monitoring system based on a neural network and an inclination sensor has advantages in removing sensor offset interference and improving monitoring accuracy, but its disadvantages such as a single monitoring range, strong dependence on data acquisition and processing, insufficient real-time and dynamic monitoring capabilities, incomplete early warning mechanism, and insufficient multi-factor response capabilities make it limited in comprehensively evaluating the safety status of the tower. Summary of the Invention

[0006] The present application provides a method and system for monitoring the settlement of transmission towers based on laser scanning measurement technology, which can solve the technical problems of low efficiency, insufficient accuracy, poor real-time performance, and weak environmental adaptability existing in the existing transmission tower settlement monitoring technology.

[0007] In a first aspect, the present application provides a transmission tower settlement monitoring system based on laser scanning measurement technology, including: A laser scanner for scanning the key points of the transmission tower structure at preset time intervals, and the key points include the tower feet, the middle of the tower, and the top of the tower of the transmission tower; A data acquisition module communicatively connected to the laser scanner for real-time acquisition of scan data; A data transmission module, whose input end is communicatively connected to the data acquisition module; A data processing module communicatively connected to the output end of the data transmission module for processing the received scan data to obtain the processed scan data; A monitoring center communicatively connected to the data processing module for receiving the processed scan data and performing real-time monitoring. When an abnormal situation is found, an alarm is issued, and historical data is predicted and evaluated to obtain the settlement trend of the iron tower.

[0008] Further, the laser scanner has a protective structure that is waterproof, dustproof, shockproof, and high-temperature resistant.

[0009] Further, the processing performed by the data processing module includes: A data preprocessing unit for denoising and correcting the received data to obtain preprocessed scan data; A coordinate conversion unit communicatively connected to the data preprocessing unit for converting the preprocessed scan data into a unified coordinate system to obtain data with a unified coordinate system; A settlement calculation unit communicatively connected to the coordinate conversion unit for calculating the settlement amount of the iron tower by using the differential calculation method according to the data with a unified coordinate system; An anomaly detection unit communicatively connected to the settlement calculation unit for comparing the calculated settlement amount of the iron tower with a preset settlement amount threshold, and triggering an alarm mechanism when the settlement amount exceeds the preset settlement amount threshold.

[0010] Further, it further includes a power supply system, and the power supply system is communicatively connected to the laser scanner, the data acquisition module, the data transmission module, the data processing module, and the monitoring center.

[0011] Further, the power supply system includes a solar power generation device, a wind power supply device, a mains power supply device, and a backup power supply. The solar power generation device, the wind power supply device, the mains power supply device, and the backup power supply are connected through an intelligent power switching device.

[0012] Further, a voltage stabilizing device is connected to the total output terminal of the power supply system, and an overload protection device is connected in series on the circuit of the power supply system.

[0013] In a second aspect, the present application provides a method for monitoring the settlement of a transmission tower based on laser scanning measurement technology, including the following steps: Scanning the key points of the transmission tower structure at preset time intervals, where the key points include the tower feet, the middle of the tower, and the top of the tower; Real-time collecting the scanned data; Performing data processing on the received scanned data to obtain the processed scanned data; Receiving the processed scanned data and performing real-time monitoring. When an abnormal situation is found, an alarm is issued, and the historical data is predicted and evaluated to obtain the settlement trend of the iron tower.

[0014] Further, the performing data processing on the received scanned data to obtain the processed scanned data specifically includes the following steps: Performing denoising and calibration processing on the received data to obtain the preprocessed scanned data; Converting the preprocessed scanned data into a unified coordinate system to obtain the data after coordinate system unification; Using the differential calculation method, based on the data after coordinate system unification, calculating and obtaining the settlement amount of the iron tower; Comparing the calculated settlement amount of the iron tower with a preset settlement amount threshold. When the settlement amount exceeds the preset settlement amount threshold, triggering an alarm mechanism.

[0015] Further, the using the differential calculation method, based on the data after coordinate system unification, calculating and obtaining the settlement amount of the iron tower specifically includes the following steps: Aligning the scanned data of different periods to the same geodetic coordinate system to obtain the scanned data after coordinate system alignment; Calculating the displacement of each key point in different periods according to the scanned data after coordinate system alignment; Based on the vertical component of the displacement of each key point in different periods, obtaining the settlement amount of the iron tower.

[0016] Further, the formula for the settlement amount threshold is shown as follows:

[0017] In the formula, is the finally set settlement threshold, is the threshold based on the design parameters of the iron tower, is the threshold based on the geological conditions, is the threshold based on the historical monitoring data, is the threshold based on the safety standards.

[0018] The beneficial effects brought by the technical solution provided in the embodiment of the present application at least include: Through automatic laser scanning at preset time intervals and real-time data collection, unattended continuous monitoring is realized, significantly improving efficiency and data timeliness; Through real-time monitoring and threshold alarm mechanism, abnormal alarms are triggered immediately; combined with historical data to predict the settlement trend, potential risks are discovered in advance, and the preventive maintenance ability is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a functional module block diagram of the transmission tower settlement monitoring system based on laser scanning measurement technology provided in the embodiment of the present application; Figure 2 It is a composition schematic diagram of the transmission tower settlement monitoring system based on laser scanning measurement technology provided in the embodiment of the present application; Figure 3 It is an installation schematic diagram of the laser scanner in the transmission tower settlement monitoring system based on laser scanning measurement technology provided in the embodiment of the present application; Figure 4 It is a data processing flow chart of the transmission tower settlement monitoring system based on laser scanning measurement technology provided in the embodiment of the present application; Figure 5 It is a schematic diagram of the power supply system in the transmission tower settlement monitoring system based on laser scanning measurement technology provided in the embodiment of the present application; Figure 6 It is a schematic diagram of the power supply system in the transmission tower settlement monitoring system based on laser scanning measurement technology provided in the embodiment of the present application; Figure 7 It is a schematic diagram of the power supply system in the transmission tower settlement monitoring system based on laser scanning measurement technology provided in the embodiment of the present application; Figure 8 It is a method flow chart of the transmission tower settlement monitoring method based on laser scanning measurement technology provided in the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application in conjunction with the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in this application without creative efforts belong to the scope of protection of this application.

[0021] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned accompanying drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequential order, nor do they limit that "first", "second" and "third" are different types.

[0022] In the description of the embodiments of this application, "exemplary", "for example" or "for instance" etc. are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present related concepts in a specific manner.

[0023] In the description of the embodiments of this application, unless otherwise specified, " / " means "or". For example, A / B may represent A or B; "and / or" in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "a plurality of" means two or more than two.

[0024] In some processes described in the embodiments of this application, a plurality of operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of this application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0025] To make the objectives, technical solutions, and advantages of this application more clear, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0026] In a first aspect, as Figures 1-2 shown, this application provides a transmission tower settlement monitoring system based on laser scanning measurement technology, including a laser scanner 100, a data acquisition module 200, a data transmission module 300, a data processing module 400, and a monitoring center 500; the laser scanner 100 is used to scan the key points of the transmission tower structure at preset time intervals, and the key points include the tower feet, the middle of the tower, and the top of the tower of the transmission tower; the data acquisition module 200 is communicatively connected to the laser scanner 100 and is used to collect scanning data in real time; the input end of the data transmission module 300 is communicatively connected to the data acquisition module 200; the data processing module 400 is communicatively connected to the output end of the data transmission module 300 and is used to process the received scanning data to obtain the processed scanning data; the monitoring center 500 is communicatively connected to the data processing module 400 and is used to receive the processed scanning data and perform real-time monitoring. When an abnormal situation is found, an alarm is issued, and the historical data is predicted and evaluated to obtain the settlement trend of the iron tower.

[0027] This application realizes unattended continuous monitoring through automatic laser scanning at preset time intervals and real-time data collection, significantly improving efficiency and data timeliness; through real-time monitoring and threshold alarm mechanism, abnormal alarms are triggered immediately; by combining historical data to predict the settlement trend, potential risks are discovered in advance, and the preventive maintenance ability is enhanced.

[0028] This application directly obtains three-dimensional point cloud data with millimeter-level accuracy, avoiding the delay and error caused by neural network processing; through the multi-module collaboration of laser scanning, differential algorithm, and multi-source power supply, all-weather automatic monitoring is realized, especially suitable for complex terrains and harsh environments; by combining geographic coordinate transformation and dynamic threshold alarm mechanism, multi-dimensional displacement data such as settlement and inclination can be analyzed synchronously, providing a more comprehensive structural safety assessment. The reliability, real-time performance, and environmental adaptability of the monitoring are significantly improved, providing accurate data support for the safe operation and maintenance of the iron tower.

[0029] In a specific embodiment, the laser scanner 100 is selected as the Riegl VZ-400i laser scanner 100, which has a high-precision three-dimensional laser scanning function. This scanner can emit laser beams and receive reflected signals for scanning transmission towers and the surrounding terrain. Its technical parameters include: the horizontal scanning range is 360 degrees, the vertical scanning range is 270 degrees, the measurement accuracy reaches ±1 mm, and the scanning speed is as high as 100,000 points per second. This device can be installed on the top of the transmission tower or a suitable position to ensure that it can comprehensively scan the key parts of the tower and the surrounding terrain. In addition, the Riegl VZ-400i is equipped with protection measures such as waterproof, dustproof, shockproof, and high-temperature resistance, and can work all-weather in various harsh environments to ensure the accuracy and reliability of data.

[0030] In a specific embodiment, the data acquisition module 200 is selected as the National Instruments (NI) cDAQ-9185, which is a high-performance data acquisition module 200. This module can acquire the measurement data of the laser scanner 100, including information such as distance, angle, and intensity. Its sampling rate can be set according to the monitoring requirements, for example, acquiring data once or multiple times per second to ensure the real-time and integrity of the data. The cDAQ-9185 uses high-speed data transmission interfaces such as USB 3.0 and Ethernet to ensure the efficiency and stability of data acquisition. The design of this module enables it to be seamlessly integrated with a variety of sensors and devices, and is suitable for various complex data acquisition tasks.

[0031] In a specific embodiment, the data transmission module 300 is selected as the Cisco IR1101 Integrated Services Router, which has a powerful data transmission function. It can transmit the acquired data to a remote server or the monitoring center 500, and supports multiple transmission methods to adapt to different environmental requirements. In terms of wired transmission, optical fibers or Ethernet cables are used, which are suitable for areas with network coverage; while in terms of wireless transmission, wireless communication technologies such as 4G / 5G, LoRa, and satellite communication are used, which are especially suitable for remote areas or areas without network coverage. In addition, the Cisco IR1101 also integrates an efficient data compression algorithm, which can reduce the amount of transmitted data, improve the transmission efficiency, and set up a data backup mechanism to ensure the reliability and integrity of data transmission.

[0032] In a specific embodiment, as Figure 4 shown, the data processing module 400 is selected as the Leica GeoMoS Monitor, which is a professional device for data processing and analysis. It can process and analyze the received data to calculate the settlement amount of the tower.

[0033] In a more specific embodiment, the processing performed by the data processing module 400 includes a data preprocessing unit, a coordinate conversion unit, a settlement calculation unit, and an anomaly detection unit.

[0034] 1. The data preprocessing unit is used to perform denoising and calibration processing on the received data to obtain preprocessed scan data, so as to improve the data quality. In the process of settlement monitoring of transmission towers, data denoising and calibration are key steps to ensure the accuracy and reliability of monitoring data.

[0035] 1.1. In terms of data denoising, it is necessary to select a suitable filtering method according to the characteristics of the data. For the settlement monitoring data of transmission towers, which are usually time series data, more suitable adaptive filtering and wavelet filtering are selected. They can effectively remove noise and retain the main features of the signal, and are applicable to non-stationary signals. If there is Gaussian noise and white noise in the data, mean filtering (i.e., smoothing filtering) can handle it better. By calculating the neighborhood average value to smooth the signal and reduce noise. For data containing salt-and-pepper noise and impulse noise, median filtering can effectively remove these noises and retain the edge features of the signal. After selecting the filtering method according to the actual situation of the transmission tower, use the signal processing library in MATLAB or Python to denoise the original settlement data, and evaluate the denoising effect by comparing the data before and after denoising to ensure that no new errors are introduced during the denoising process; 1.2. In terms of data calibration, it is first necessary to determine the calibration type. For the data monitored by radar, radiometric calibration is necessary, which converts the original radar echo value into the surface reflectivity to eliminate the influence caused by factors such as different times and weather. For the data monitored by GPS or other positioning devices for settlement monitoring, geometric calibration is particularly important, which corrects the geometric distortion caused by the sensor position and terrain to ensure the spatial consistency of the data. In addition, surface calibration considers the surface characteristics and removes the influence of ground features on the radar signal, which is applicable to the monitoring data in complex terrain or vegetation-covered areas. Since the Riegl VZ-400i laser scanner 100 applied in the present invention is used for data monitoring, the calibration type is geometric calibration. Use the geometric calibration tool in ENVI software to adjust the data to eliminate distortion. Finally, evaluate the calibration effect by comparing the data before and after calibration to ensure the accuracy of the calibration process; 2. The coordinate transformation unit is communicatively connected to the data preprocessing unit and is used to transform the preprocessed scan data into a unified coordinate system, such as the geodetic coordinate system, to ensure the consistency and comparability of the data and obtain the data after the coordinate system is unified. Transforming the scan data into a unified coordinate system (geodetic coordinate system) is a key step to ensure the consistency and comparability of the data. In the settlement monitoring of transmission towers, the commonly used unified coordinate system is the geodetic coordinate system (also known as the geographic coordinate system), which is based on the Geodetic Coordinate System.

[0036] The following are the detailed steps and formula principles of coordinate transformation: The geodetic coordinate system uses longitude (Longitude, λ), latitude (Latitude, φ), and height (EllipsoidalHeight, h) to describe the position of any point on the earth. The geodetic coordinate system is based on a reference ellipsoid (such as WGS84), which simulates the shape and size of the earth.

[0037] 2.1. From the scan device coordinate system to the earth-centered coordinate system: The scan device (laser scanner 100) usually has its own local coordinate system and needs to be transformed into the earth-centered coordinate system (ECEF) first. The transformation process includes the following steps: A. Translation: Translate the origin of the scan device to the center of the earth.

[0038]

[0039] In the formula, is the coordinate of the scan device coordinate system, is the translation amount.

[0040] B. Rotation: Rotate the local coordinate system of the scan device to the same direction as the earth-centered coordinate system.

[0041]

[0042] In the formula, is the selection matrix, usually composed of three rotation angles (pitch angle, roll angle, yaw angle).

[0043] C. Scaling: Adjust the scaling ratio of the coordinates as needed.

[0044]

[0045] In the formula, is the scaling factor.

[0046] 2.2. From the earth-centered coordinate system (ECEF) to the geodetic coordinate system, the transformation formula is as follows:

[0047] In the formula, are the coordinates in the geodetic coordinate system; are the coordinates in the geocentric coordinate system; is the second eccentricity, and the calculation formula is ; is the auxiliary angle, and the calculation formula is ; is the horizontal component of the geocentric distance, and the calculation formula is ; is the semi-major axis of the ellipsoid (in the WGS84 ellipsoid, = 6378137 m); is the semi-minor axis of the ellipsoid (in the WGS84 ellipsoid, = 6356752.314245 m); is the first eccentricity, and the calculation formula is .

[0048] 3. The settlement calculation unit is communicatively connected to the coordinate conversion unit and is configured to calculate and obtain the settlement amount of the iron tower by using the differential calculation method according to the data after the coordinate system is unified; specifically, the differential method calculates the displacement of the key points of the iron tower by comparing the scanning data of different periods, and specifically includes the following steps: 3.1. First, perform data alignment: First, the scanning data of different periods need to be aligned to the same geodetic coordinate system. This is usually achieved through coordinate conversion, translation, and rotation to ensure that the two periods of data are compared in the same reference system. After converting the scanning data to the geodetic coordinate system, the data is already in the same reference system, so they can be directly compared. The formula is as follows:

[0049] In the formula, are the coordinates of the original geodetic, is the translation amount, which is used to correct the systematic error between the two periods of data.

[0050] 3.2. Perform displacement calculation: For each key point, calculate its displacement at different times. The formula is as follows:

[0051] In the formula, is the displacement amount of the key point, are the coordinates of the key point at the first time point, are the coordinates of the key point at the second time point.

[0052] 3.3. Finally, perform settlement amount calculation: The settlement amount is the vertical component of the displacement. Assume that the vertical direction is For the shaft, the settlement calculation formula is as follows:

[0053] In the formula, is the settlement amount, is the coordinate of the key point at the first time point, is the coordinate of the key point at the second time point.

[0054] Through a high-precision laser scanner (such as Riegl VZ-400i with an accuracy of ±1 mm) and a differential algorithm, the system of the present application can capture the millimeter-level settlement changes of the key points of the iron tower in real time, which is significantly better than traditional manual measurements (such as total stations or levels), solving the problems of low efficiency and insufficient accuracy of traditional methods, and is particularly suitable for power facilities sensitive to minute settlements.

[0055] 4. The anomaly detection unit is communicatively connected to the settlement calculation unit and is configured to compare the calculated settlement amount of the iron tower with a preset settlement amount threshold. When the settlement amount exceeds the preset settlement amount threshold, an alarm mechanism is triggered to timely remind relevant personnel to handle it; 4.1. The threshold is set as follows: The factors for setting the settlement threshold include the design parameters of the iron tower, geological conditions, historical monitoring data, safety standards, etc., and it is expressed as:

[0056] In the formula, is the finally set settlement threshold, is the threshold based on the design parameters of the iron tower, is the threshold based on the geological conditions, is the threshold based on the historical monitoring data, is the threshold based on the safety standards.

[0057] 4.2. Anomaly detection (threshold comparison) is as follows: Compare the obtained by calculating the settlement amount with the preset settlement threshold: Judgment condition:

[0058] If , it is determined that the settlement of the transmission tower is abnormal and the alarm mechanism is triggered; if , it is determined that the settlement of the transmission tower is normal and continuous monitoring is continued.

[0059] The transmission tower settlement monitoring system based on laser scanning measurement technology provided by this application adopts an integrated protection design that is waterproof, dustproof, and resistant to high and low temperatures, and an automated data processing process for denoising, coordinate transformation, and settlement calculation. It can work continuously in harsh environments (such as rain, snow, haze) without manual intervention. Advantages: It overcomes the defects of manual monitoring restricted by weather and geographical conditions, and ensures the continuity and reliability of monitoring.

[0060] In one embodiment, the monitoring center 500 selects the device model Honeywell HC900 Hybrid Controller, which is a powerful monitoring and data display device. It can receive and display the processed scanning data, realize real-time monitoring of the tower settlement situation, and issue an alarm in case of anomalies. Honeywell HC900 Hybrid Controller provides an intuitive graphical interface, and users can clearly view key information such as the settlement curve of the tower and the displacement of key points. When the settlement amount exceeds the preset threshold, the system will promptly notify relevant personnel through multiple methods such as text messages, phone calls, and emails to ensure that countermeasures can be taken quickly. In addition, the device also has a data storage function, which can save historical monitoring data for subsequent analysis and query, providing reliable data support for the long-term health monitoring of the tower.

[0061] In one embodiment, as Figures 5-7 shown, the transmission tower settlement monitoring system based on laser scanning measurement technology provided by this application further includes a power supply system. The power supply system is communicatively connected to the laser scanner 100, the data acquisition module 200, the data transmission module 300, the data processing module 400, and the monitoring center 500; further, the power supply system includes a solar power generation device, a wind power supply device, a mains power supply device, and a backup power supply. The solar power generation device, the wind power supply device, the mains power supply device, and the backup power supply are connected through an intelligent power switching device; adopting a hybrid power supply scheme (solar, wind, mains + energy storage), combined with intelligent power management (such as OutBack Power SkyBox), ensures long-term stable operation in remote areas or areas without power grid coverage, solves the power supply problem of traditional monitoring equipment in power-off or power-failure scenarios, and improves the system adaptability.

[0062] In a specific embodiment, the power supply system selects the device model OutBack Power SkyBox Hybrid Inverter, which is an intelligent device integrating multiple power supply methods and power management functions. In terms of power supply methods, it supports solar power supply, is suitable for areas with sufficient sunlight, and is equipped with a maximum power point tracking (MPPT) controller to ensure efficient energy conversion; it supports wind power supply, is suitable for areas rich in wind resources, and is equipped with a voltage stabilizing device to ensure stable output voltage; at the same time, it also supports mains power supply, is suitable for areas with mains power supply, and is equipped with an uninterruptible power supply (UPS) system to ensure that the system can continue to operate in case of power failure. In addition, the SkyBox Hybrid Inverter is equipped with a lithium battery pack or a lead-acid battery pack as a backup power source to ensure that the system can continue to operate in the absence of sunlight, wind or power failure; preferably, a voltage stabilizing device is connected to the total output terminal of the power supply system, and an overload protection device is connected in series on the circuit of the power supply system. In terms of power management, the SkyBox Hybrid Inverter adopts an intelligent power switching device to achieve seamless switching between different power supply methods; it is equipped with a voltage stabilizing device to ensure stable power supply voltage for each module of the system; and an overload protection device is set to prevent damage to the device due to excessive current.

[0063] In a more specific embodiment, the transmission tower settlement monitoring system provided by the present application based on laser scanning measurement technology is implemented as follows: First, the laser scanner 100 scans at a preset time interval, and the data acquisition module 200 collects the scanned data in real time. The collected data is transmitted to a remote server or monitoring center 500 through a wired method (such as optical fiber or Ethernet cable) or a wireless method (such as 4G / 5G, LoRa, satellite communication, etc.). Then, the data processing module 400 processes the received data, including data preprocessing (such as denoising, calibration), coordinate transformation (transforming to a unified coordinate system), and settlement calculation (calculating the settlement amount of the iron tower using algorithms such as differential method and point cloud registration), and triggers an alarm mechanism when the detected settlement amount exceeds the preset threshold. At the same time, the monitoring center 500 receives the processed scanned data in real time and conducts real-time monitoring, and immediately issues an alarm once an abnormal situation is found. Finally, the historical data is statistically analyzed regularly to evaluate the settlement trend of the iron tower, predict potential risks, and provide a scientific basis for maintenance and management.

[0064] Second aspect, as Figure 8 shown, the present application provides a transmission tower settlement monitoring method based on laser scanning measurement technology, including the following steps: Step S1: Scan the key points of the transmission tower structure at a preset time interval, and the key points include the tower feet, the middle of the tower, and the top of the tower of the transmission tower; Step S2: Collect scanning data in real time; Step S3: Process the received scanning data to obtain the processed scanning data; Step S4: Receive the processed scanning data and perform real-time monitoring. When an abnormal situation is detected, an alarm is issued, and the historical data is predicted and evaluated to obtain the settlement trend of the iron tower.

[0065] In one embodiment, the processing of the received scanning data to obtain the processed scanning data specifically includes the following steps: Perform denoising and calibration processing on the received data to obtain the preprocessed scanning data; Convert the preprocessed scanning data to a unified coordinate system to obtain the data after the coordinate system is unified; Using the differential calculation method, calculate the settlement amount of the iron tower based on the data after the coordinate system is unified; Compare the calculated settlement amount of the iron tower with the preset settlement amount threshold. When the settlement amount exceeds the preset settlement amount threshold, trigger the alarm mechanism.

[0066] In one embodiment, the using the differential calculation method to calculate the settlement amount of the iron tower based on the data after the coordinate system is unified specifically includes the following steps: Align the scanning data of different periods to the same geodetic coordinate system to obtain the scanning data after the coordinate system is aligned; Based on the scanning data after the coordinate system is aligned, calculate the displacement of each key point in different periods; Based on the vertical component of the displacement of each key point in different periods, obtain the settlement amount of the iron tower.

[0067] In one embodiment, the formula for the settlement amount threshold is shown as follows:

[0068] In the formula, is the finally set settlement threshold, is the threshold based on the iron tower design parameters, is the threshold based on the geological conditions, is the threshold based on the historical monitoring data, is the threshold based on the safety standards.

[0069] In a third aspect, an embodiment of the present application provides a transmission tower settlement monitoring device based on laser scanning measurement technology. The transmission tower settlement monitoring device based on laser scanning measurement technology can be a device with data processing functions such as a personal computer (PC), a laptop computer, a server, etc.

[0070] The communication interface includes interfaces such as input / output (I / O) interfaces, physical interfaces, and logical interfaces for implementing the interconnection of components inside the transmission tower settlement monitoring device based on laser scanning measurement technology, as well as interfaces for implementing the interconnection between the transmission tower settlement monitoring device based on laser scanning measurement technology and other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber optic interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0071] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0072] The processor can be a general-purpose processor, which can call the transmission tower settlement monitoring program stored in the memory based on laser scanning measurement technology and execute the transmission tower settlement monitoring method provided in the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the transmission tower settlement monitoring program based on laser scanning measurement technology is called can refer to the various embodiments of the transmission tower settlement monitoring method based on laser scanning measurement technology in the present application, which will not be elaborated here.

[0073] Fourthly, the embodiments of the present application also provide a readable storage medium.

[0074] The readable storage medium of the present application stores a transmission tower settlement monitoring program based on laser scanning measurement technology. When the transmission tower settlement monitoring program based on laser scanning measurement technology is executed by a processor, the steps of the transmission tower settlement monitoring method as described above are implemented.

[0075] Among them, the method implemented when the transmission tower settlement monitoring program based on laser scanning measurement technology is executed can refer to the various embodiments of the transmission tower settlement monitoring method based on laser scanning measurement technology in the present application, which will not be elaborated here.

[0076] It should be noted that the serial numbers of the above embodiments of the present application are only for description and do not represent the superiority or inferiority of the embodiments.

[0077] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation. Based on such an understanding, the technical solution of the present application, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.

[0078] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A transmission tower settlement monitoring system based on laser scanning measurement technology, characterized in that, Including: A laser scanner for scanning key points of the transmission tower structure at preset time intervals, where the key points include the tower feet, the middle of the tower, and the top of the tower of the transmission tower; A data acquisition module communicatively connected to the laser scanner for real-time acquisition of scan data; A data transmission module, whose input end is communicatively connected to the data acquisition module; A data processing module communicatively connected to the output end of the data transmission module for processing the received scan data to obtain processed scan data; A monitoring center communicatively connected to the data processing module for receiving the processed scan data and performing real-time monitoring. When an abnormal situation is detected, an alarm is issued, and historical data is predicted and evaluated to obtain the settlement trend of the iron tower.

2. The settlement monitoring system for transmission towers based on laser scanning measurement technology according to claim 1, wherein The laser scanner has a protective structure against water, dust, vibration, and high temperature.

3. The settlement monitoring system for transmission towers based on laser scanning measurement technology according to claim 1, wherein, The processing performed by the data processing module includes: A data preprocessing unit for denoising and correcting the received data to obtain preprocessed scan data; A coordinate conversion unit communicatively connected to the data preprocessing unit for converting the preprocessed scan data into a unified coordinate system to obtain data with a unified coordinate system; A settlement calculation unit communicatively connected to the coordinate conversion unit for calculating the settlement amount of the iron tower using the differential calculation method based on the data with a unified coordinate system; An anomaly detection unit communicatively connected to the settlement calculation unit for comparing the calculated settlement amount of the iron tower with a preset settlement amount threshold. When the settlement amount exceeds the preset settlement amount threshold, an alarm mechanism is triggered.

4. The settlement monitoring system for transmission towers based on laser scanning measurement technology according to claim 1, wherein It further includes a power supply system communicatively connected to the laser scanner, the data acquisition module, the data transmission module, the data processing module, and the monitoring center.

5. The settlement monitoring system for transmission towers based on laser scanning measurement technology according to claim 4, characterized in that The power supply system includes a solar power generation device, a wind power supply device, a mains power supply device, and a backup power supply, and the solar power generation device, the wind power supply device, the mains power supply device, and the backup power supply are connected through an intelligent power switching device.

6. The settlement monitoring system for transmission towers based on laser scanning measurement technology according to claim 5, characterized in that, A voltage stabilizing device is connected to the total output end of the power supply system, and an overload protection device is connected in series in the circuit of the power supply system.

7. A method for monitoring the settlement of transmission towers based on laser scanning measurement technology, characterized in that, Including the following steps: Scanning key points of the transmission tower structure at preset time intervals, where the key points include the tower feet, the middle of the tower, and the top of the tower of the transmission tower; Real-time acquisition of scan data; Processing the received scan data to obtain processed scan data; Receiving the processed scan data and performing real-time monitoring. When an abnormal situation is detected, an alarm is issued, and historical data is predicted and evaluated to obtain the settlement trend of the iron tower.

8. The method for monitoring the settlement of a transmission tower based on laser scanning measurement technology according to claim 7, characterized in that The processing of the received scan data to obtain processed scan data specifically includes the following steps: Denoising and correcting the received data to obtain preprocessed scan data; Converting the preprocessed scan data into a unified coordinate system to obtain data with a unified coordinate system; Calculating the settlement amount of the iron tower using the differential calculation method based on the data with a unified coordinate system; Comparing the calculated settlement amount of the iron tower with a preset settlement amount threshold. When the settlement amount exceeds the preset settlement amount threshold, an alarm mechanism is triggered.

9. The method according to claim 8, wherein Using the differential calculation method, calculate and obtain the settlement amount of the iron tower based on the data after coordinate system I, specifically including the following steps: Align the scan data of different periods to the same geodetic coordinate system to obtain the scan data after coordinate system alignment; Calculate the displacements of each key point in different periods according to the scan data after coordinate system alignment; Obtain the settlement amount of the iron tower based on the vertical components of the displacements of each key point in different periods.

10. The method according to claim 7, wherein The calculation formula for the settlement amount threshold is shown as follows: In the formula, is the finally set settlement threshold, is the threshold based on the design parameters of the iron tower, is the threshold based on the geological conditions, is the threshold based on the historical monitoring data, is the threshold based on the safety standards.

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