Perpendicularity real-time monitoring and early warning system based on multi-sensor fusion

Abstract

The invention discloses a verticality real-time monitoring and early warning system based on multi-sensor fusion, and relates to the technical field of intelligent construction, and the system comprises a multi-sensor array module which is used for monitoring the spatial dynamic change of a detected object in real time; the data fusion processing module is used for performing fusion processing on the monitored data by adopting a Kalman filtering algorithm to obtain perpendicularity offset, and comparing the perpendicularity offset according to a preset tested product grading early warning value to obtain early warning information; the wireless communication unit is used for sending the perpendicularity offset and the early warning information to a supervision platform; and the supervision platform is used for simulating and displaying a real-time posture, sending early warning information and storing perpendicularity offset. According to the invention, real-time monitoring, early warning and event recording of the tested object can be realized.

Description

Technical Field

[0001] The present invention relates to the field of intelligent construction technology, and particularly relates to a real-time monitoring and early warning system for perpendicularity based on multi-sensor fusion. Background Art

[0002] In the prior art, more theodolite measurements, total station measurements, etc. are used, which rely on manual measurement and calculation. The monitoring frequency is usually once every 7 days or once every 30 days. The prior art has the following limitations: it cannot monitor in real time, cannot issue early warnings in case of dangerous states, and accidents may occur; it relies on manual measurement and calculation, with low efficiency, is seriously interfered by the line of sight, and the error rate exceeds 15% in rainy and foggy weather.

[0003] Defects of the existing solutions: relying on manual observation, unable to monitor in real time, can only monitor the state at the time point of manual measurement, is greatly affected by the environment, requires turning point calculation, and has large errors. There is no detailed process data support for the investigation after an accident, which is not conducive to the prevention of similar accidents. Summary of the Invention

[0004] An embodiment of the present invention provides a real-time monitoring and early warning system for perpendicularity based on multi-sensor fusion, which realizes real-time monitoring, early warning and event recording of the measured product.

[0005] In a first aspect, the present invention provides a real-time monitoring and early warning system for perpendicularity based on multi-sensor fusion, including: a multi-sensor array module, a data fusion processing module, a wireless communication unit and a supervision platform;

[0006] The multi-sensor array module is used for real-time monitoring of the spatial dynamic changes of the measured product;

[0007] The data fusion processing module is used for fusing the monitored data by using the Kalman filtering algorithm to obtain the perpendicularity offset, and comparing the perpendicularity offset with the preset hierarchical early warning value of the measured product to obtain early warning information;

[0008] The wireless communication unit is used for sending the perpendicularity offset and early warning information to the supervision platform;

[0009] The supervision platform is used for simulating and displaying the real-time posture, sending early warning information and storing the perpendicularity offset.

[0010] In some examples, the multi-sensor array module includes an accelerometer, a gyroscope and a Beidou / GPS dual-mode positioning module;

[0011] The accelerometer is used for measuring the first displacement angle;

[0012] The gyroscope is used for measuring the second displacement angle;

[0013] The Beidou / GPS dual-mode positioning module is used to compensate for the foundation settlement error.

[0014] In some instances, the system further includes: a photovoltaic panel, a capacitor, and a battery;

[0015] The photovoltaic panel generates electricity, the capacitor boosts the voltage to charge the battery, and the battery then supplies power to the multi-sensor array module through a voltage regulation module.

[0016] In some instances, the perpendicularity offset Δh is calculated by Δh = H×sinθ_fused, where H is the vertical height after the measured product is installed, and θ_fused is the displacement angle after the first displacement angle and the second displacement angle are fused using Kalman filtering.

[0017] In some instances, θ_fused = 0.7*θ_accel + 0.3*θ_gyro, where θ_accel is the first displacement angle and θ_gyro is the second displacement angle.

[0018] In some instances, the preset hierarchical warning values for the measured product include a first warning value, a second warning value, and a third warning value that increase in sequence;

[0019] If Δh / H > the first warning value, then LED warning is triggered;

[0020] If Δh / H > the second warning value, then emergency warning is started;

[0021] If Δh / H > the third warning value, then accident recording is started.

[0022] In some instances, the multi-sensor array module further includes a laser ranging module;

[0023] The laser ranging module is fixed at a point, and after the measured product is raised by a certain height, a measurement is taken. The measured data is compared with the drawing data to determine the construction deviation;

[0024] In some instances, the system further includes a magnetic adsorption mounting base, which is used to fix each sensor in the sensor array module and at the same time serves as the measurement point for the laser ranging module.

[0025] Generally speaking, compared with the prior art through the above technical solutions conceived by the present invention, the following beneficial effects can be achieved:

[0026] 1. By adopting intelligent measurement, calculation, sending of attitude data and alarm information, and simulating the real-time spatial attitude on the supervision platform, real-time monitoring of the attitude of the measured product is realized.

[0027] 2. The spatio-temporal alignment data fusion technology based on multi-sensors (MEMS accelerometer, fiber optic gyroscope, Beidou / GPS positioning), combined with the improved Kalman filtering algorithm, eliminates the errors of single sensors and improves the calculation accuracy of the verticality offset to ±0.01°.

[0028] 3. The weighted algorithm is adopted to dynamically adjust the data fusion weights of multi-sensors, realizing high-precision real-time monitoring and early warning.

[0029] 4. The hierarchical dynamic threshold and automatic emergency response mechanism are adopted: according to the verticality offset rate (Δh / H), multi-level early warnings (secondary warning, primary alarm, accident alarm) are automatically triggered, and operations such as power-off, data locking, and emergency notification are linked to execute, forming a closed-loop safety control.

[0030] 5. The low-power design of solar power supply + super capacitor is adopted, supporting a 30-day battery life in an external power-free environment and adapting to complex construction scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a schematic diagram of the system provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts fall within the protection scope of the present invention.

[0034] In the following description, specific embodiments of the present invention will be described with reference to steps and symbols performed by one or more computers, unless otherwise specified. Therefore, these steps and operations will be referred to several times as being performed by a computer. As used herein, a computer execution includes operations of a computer processing unit that represents data in a structured form as an electronic signal. This operation transforms the data or maintains its position in the computer's memory system, which can reconfigure or otherwise change the operation of the computer in a manner well known to those skilled in the art. The data structure in which the data is maintained is a physical location in the memory that has specific characteristics defined by the data format. However, the principles of the present invention are described in the above text, which does not represent a limitation. Those skilled in the art will understand that the following various steps and operations can also be implemented in hardware.

[0035] As used herein, the terms "module" or "unit" can be regarded as software objects executed on the computing system. Different components, modules, engines, and services herein can be regarded as implementation objects on the computing system. The devices and methods herein are preferably implemented in software, but can also be implemented in hardware, all within the protection scope of the present invention.

[0036] Those skilled in the art of the present technology can understand that, unless specifically stated otherwise, the singular forms "a", "an", and "the" used herein can also include the plural forms. It should be further understood that the term "comprising" used in the specification of the present invention means the presence of features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or their groups. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to other elements, or there can also be intermediate elements. In addition, the "connection" or "coupling" used herein can include wireless connection or wireless coupling. The phrase "and / or" used herein includes all or any unit and all combinations of one or more associated listed items.

[0037] In an embodiment of the present invention, a real-time monitoring and early warning system for verticality based on multi-sensor fusion is provided. A multi-sensor array module is used to monitor the spatial dynamic changes of the product to be measured in real time; a mature Kalman filtering algorithm is used to fuse and process the collected data; a grading early warning value for the product to be measured is preset in the dynamic early warning module to compare the fused data; a LoRa wireless communication unit is used to send the fused data and early warning information to the supervision platform to simulate and display the real-time posture, send early warning information, and store data, so as to realize real-time monitoring, early warning, and event recording of the product to be measured ( Figure 1 ). Extended application: According to the layout range, project-level, company-level, city-level, and even industry-level real-time monitoring and early warning systems can be built. Specifically, such asFigure 1 As shown in Figure 1 , it includes: a multi-sensor array module, a data fusion processing module, a wireless communication unit, and a supervision platform;

[0038] The multi-sensor array module is used to monitor the spatial dynamic changes of the measured product in real time;

[0039] The data fusion processing module is used to fuse the monitored data by using the Kalman filtering algorithm to obtain the perpendicularity offset, and compare the perpendicularity offset with the preset classification warning value of the measured product to obtain a warning message;

[0040] The wireless communication unit is used to send the perpendicularity offset and the warning message to the supervision platform;

[0041] The supervision platform is used to simulate and display the real-time posture, send warning messages, and store the perpendicularity offset.

[0042] In the first embodiment of the present invention, a tower crane is taken as an example to illustrate the monitoring and warning system of the embodiment of the present invention.

[0043] (1) Hardware configuration:

[0044] Sensor group deployment: Install respectively on the 4th, 8th, and 12th floors (interval ≥ 6m) of the tower crane standard section:

[0045] 1. MEMS accelerometer. In the embodiment of the present invention, it is installed on the Z-axis aligned with the center line of the tower crane;

[0046] 2. Fiber optic gyroscope. In the embodiment of the present invention, the sampling frequency is 50Hz;

[0047] 3. Beidou / GPS dual-mode positioning module. In the embodiment of the present invention, the positioning error ≤ 3cm;

[0048] Power supply system: Each monitoring node is configured with:

[0049] 1. 10W monocrystalline silicon photovoltaic panel;

[0050] 2. Battery pack + super capacitor;

[0051] 3. The low-power mode endurance ≥ 30 days;

[0052] In the embodiment of the present invention, the photovoltaic panel generates electricity, charges the battery through capacitor boost, and the battery then supplies power to the sensor group through a voltage regulation module.

[0053] (2) Software logic:

[0054] 1. Synchronously collect the accelerometer and gyroscope data. In the embodiment of the present invention, a 50Hz sampling can be adopted;

[0055] 2. The Beidou positioning data compensates for the foundation settlement error, thereby obtaining the vertical height after the tower crane is installed;

[0056] 3. Perform improved Kalman filtering:

[0057] θ_fused = 0.7 * θ_accel + 0.3 * θ_gyro

[0058] where θ_accel is the displacement angle measured by the accelerometer in real time, θ_gyro is the displacement angle measured by the gyroscope in real time, and θ_fused is the displacement angle of the displacement amount determined after calculation.

[0059] 4. Calculate the verticality offset:

[0060] Δh = H × sinθ_fused

[0061] where H is the vertical height after the tower crane is installed.

[0062] 5. Dynamic threshold judgment:

[0063] If Δh / H > 0.2%, then trigger the LED warning;

[0064] If Δh / H > 0.4%, then start the emergency warning;

[0065] If Δh / H > 5%, then start the accident record;

[0066] 6. After data encryption, it is sent to the supervision platform through LoRa.

[0067] In the second embodiment of the present invention, a bridge pier attitude monitoring and warning system is taken as an example for illustration.

[0068] Among them, pier columns, chimneys, granaries, etc. can be regarded as an elliptical cylinder, which is constructed by pouring in layers during construction. The data of four corners (i.e., multiple control points) are collected to simulate the changes in the construction process in real time, so as to timely detect whether the whole is offset or the eccentric state of a certain section.

[0069] Differentiated design, sensor layout:

[0070] Sensors are arranged at the four corners (i.e., control points) on the upper and lower sides of the pier column monitoring section. The arranged points depend on the control points of the specific construction plan (measurement marks used to measure the spatial deviation of cylinders or cuboids), forming a spatial attitude solution matrix;

[0071] Among them, the acquisition method of the spatial attitude solution matrix includes:

[0072] The control points are equivalent to the 8 vertices of a cuboid (or more can be set for higher precision). Taking the four points on the bottom surface (ground) as the benchmarks, there are measured offset data for the change of each control point on the upper construction layer. The 8 three-dimensional data points can directly form the actual spatial posture of the cuboid in the BIM model or other three-dimensional display models.

[0073] In the embodiment of the present invention, a laser ranging module (range 200m, accuracy ±1mm) is added. This is a method used in the traditional method for measuring deformation. The rangefinder is fixed at a point (depending on local conditions, which will be specified in the construction plan). After the measured object rises a certain height, a measurement is taken. Given that the increased height is known and the straight-line distance between the measurement point and the measured point is known, the data of the laser ranging module is compared with the drawing data to determine the construction deviation.

[0074] A magnetic adsorption type mounting base is used to fix the sensor, which also serves as the measurement point of the laser ranging module. Among them, the magnetic adsorption type mounting base can be specifically selected according to the calculated adsorption force of the external design.

[0075] A historical database of pier column inclination is established to automatically generate construction control data and safety assessment reports.

[0076] In the embodiment of the present invention, there is data after each layer of construction of the pier column, etc. Taking a 2m height per layer as an example, for a 20m high pier column, it needs to be poured 10 times. When pouring for the 3rd time, there are data from the previous 2 times. If the formwork is not made properly, there will be continuous deviation on one side, and the problem on this side can be discovered, and it can be found and corrected in time, so as not to cause more subsequent deviations and lead to quality or safety problems.

[0077] Further, the system working process includes: power on → system self-check → data acquisition → coordinate normalization processing → offset calculation → early warning decision-making → data sending → log recording.

[0078] Further, a multi-level early warning mechanism is adopted, specifically including:

[0079] Secondary early warning (Δh / L > 0.2%):

[0080] On-site: Start the yellow warning light to flash (frequency 1Hz)

[0081] On the platform: Mark a yellow warning icon at the corresponding position in the BIM model

[0082] Maintenance personnel: Need to conduct on-site recheck within 2 hours

[0083] Primary alarm (Δh / L > 0.4%):

[0084] On-site: The red warning light is always on + the buzzer alarms (>85dB)

[0085] Automatically execute: Cut off the power supply of the tower crane (through the relay module)

[0086] Emergency response: Send alarm information synchronously to the person in charge of the project department and the superior supervisors.

[0087] Accident alarm (Δh / L > 5%):

[0088] On-site: Red warning light always on + buzzer alarm (>85dB)

[0089] Automatic execution: Cut off the power supply of the tower crane (through the relay module)

[0090] Emergency response: Send alarm information synchronously to the local emergency rescue unit and lock the data.

[0091] Data traceability mechanism:

[0092] Store the original sensing data of the most recent 72 hours (circular overwrite)

[0093] Key event data (accident) is permanently saved (stored at multiple monitoring ends)

[0094] The embodiment of the present invention provides a real-time monitoring and early warning system for verticality based on multi-sensor fusion, which is a real-time safety monitoring and early warning system based on the Internet of Things. It is applicable to large-scale warehousing and construction industries that have requirements for verticality or where verticality deviation may lead to accidents, especially applicable to the construction field, such as the lifting frames of large metal roofs, various ultra-high support frames, tower cranes, construction elevators and other special equipment safety monitoring, the construction attitude of bridge piers, the spatial attitude of silo slip forms, etc., to realize real-time dynamic monitoring of verticality, spatial attitude monitoring and risk early warning, as well as recording of sudden accidents.

[0095] The above has introduced in detail a real-time monitoring and early warning system for verticality based on multi-sensor fusion provided by the embodiment of the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A real-time verticality monitoring and warning system based on multi-sensor fusion, characterized in that, It includes: A multi-sensor array module, a data fusion processing module, a wireless communication unit, and a supervision platform; The multi-sensor array module is used for real-time monitoring of the spatial dynamic changes of the measured product; The data fusion processing module is used to fuse the monitored data by using the Kalman filtering algorithm to obtain the perpendicularity offset, and compare the perpendicularity offset with the preset hierarchical warning values of the measured product to obtain warning information; The wireless communication unit is used to send the perpendicularity offset and warning information to the supervision platform; The supervision platform is used to simulate and display the real-time attitude, send warning information, and store the perpendicularity offset.

2. The system according to claim 1, wherein The multi-sensor array module includes an accelerometer, a gyroscope, and a Beidou / GPS dual-mode positioning module; The accelerometer is used to measure the first displacement angle; The gyroscope is used to measure the second displacement angle; The Beidou / GPS dual-mode positioning module is used to compensate for the foundation settlement error.

3. The system according to claim 2, wherein The system further includes: a photovoltaic panel, a capacitor, and a battery; The photovoltaic panel generates electricity, the capacitor boosts the voltage to charge the battery, and the battery then supplies power to the multi-sensor array module through a voltage regulation module.

4. The system according to claim 2 or 3, characterized in that, The perpendicularity offset Δh is calculated by Δh = H×sinθ_fused, where H is the vertical height after the measured product is installed, and θ_fused is the displacement angle after fusing the first displacement angle and the second displacement angle by using the Kalman filter.

5. The system according to claim 4, wherein θ_fused = 0.7*θ_accel + 0.3*θ_gyro, where θ_accel is the first displacement angle and θ_gyro is the second displacement angle.

6. The system according to claim 5, characterized in that The preset hierarchical warning values of the measured product include a first warning value, a second warning value, and a third warning value that increase in sequence; If Δh / H > the first warning value, then trigger an LED warning; If Δh / H > the second warning value, then initiate an emergency warning; If Δh / H > the third warning value, then initiate an accident record.

7. The system according to claim 2, wherein The multi-sensor array module further includes a laser ranging module; The laser ranging module fixes at a point, measures after the measured product rises by a certain height, and compares the measured data with the drawing data to judge the construction deviation; 8. The system according to claim 7, wherein The system further includes a magnetic adsorption mounting base, which is used to fix each sensor in the sensor array module and at the same time serves as the measurement point of the laser ranging module.

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