Inhaul cable monitoring method

Abstract

The invention discloses an inhaul cable monitoring method, and relates to the field of bridge engineering, and the method comprises the steps: obtaining the frequency, peak position offset and radar echo energy of any inhaul cable, and carrying out the calculation according to the frequency, peak position offset and radar echo energy of the inhaul cable, and obtaining a first score value and a second score value; judging whether the first score value is greater than a preset first threshold value and whether the second score value is greater than a preset second threshold value; if not, continuously using the radar to monitor the inhaul cable; if yes, whether the radar inhaul cable distance meets a preset condition or not is judged; if yes, the radar actively recognizes and positions the spatial position of the inhaul cable again and then continues to monitor the inhaul cable; if not, the radar is manually made to recognize and position the spatial position of the inhaul cable again, and then the inhaul cable continues to be monitored. According to the method, accurate and efficient state monitoring of the stay cable is realized by adopting a multi-index fusion drift identification and repositioning mechanism of the stay cable.

Description

Technical Field

[0001] The present invention relates to the field of bridge engineering, and in particular to a cable monitoring method. Background Art

[0002] With the rapid development of long-span cable-stayed bridges, cable-stayed cables, as key load-bearing components, have become key indicators for structural health monitoring, particularly their tension and vibration characteristics. Radar monitoring technology, a non-contact, long-distance measurement method, is gaining increasing application in bridge cable monitoring due to its high resolution, multi-target recognition, and all-weather operation capabilities. This type of radar system generates a pulse pressure diagram and, by extracting the peak position and micro-vibration frequency of the cable's reflected echo, indirectly determines cable displacement changes, cable tension levels, and health status, laying the technical foundation for the development of a new generation of intelligent monitoring systems.

[0003] Patent document CN116879884A discloses a method that controls phased array antenna subarrays to transmit millimeter-wave signals across the entire cable surface. Multiple signal separation is then used to extract the Doppler frequency of each cable, constructing a complete vibration signal for each cable. This signal is then combined with the inversion of the structural motion equilibrium equation to obtain the time-varying cable force. This method improves spatial resolution and vibration accuracy, making it particularly suitable for long-term monitoring of cable groups using multi-point modal analysis.

[0004] However, in the actual operation of long-span bridges, the main girder structure is often affected by factors such as long-term temperature fluctuations, traffic loads, and strong winds, which can cause changes in deflection. Consequently, the cable reflection position will also change, causing the radar to receive echo distance changes, resulting in a significant shift in the cable reflection peak position in the radar range spectrum. If the system continues to extract frequencies within the originally set position after the cable target peak has shifted, the frequency measurement target will be incorrect, resulting in frequency calculation distortion and increased misjudgment. Summary of the Invention

[0005] The present invention provides a cable monitoring method, which can solve the problem that after the cable target peak drifts, if the system still performs frequency extraction within the original set position area, there will be errors in the frequency measurement object, frequency calculation distortion, and increased abnormal misjudgment.

[0006] In a first aspect, an embodiment of the present invention provides a cable monitoring method, which includes the following steps: Obtain the frequency, peak position offset, and radar echo energy of any cable, and calculate a first score value and a second score value based on the frequency phase, peak position offset, and radar echo energy of the cable; Determine whether the first score value is greater than a preset first threshold and whether the second score value is greater than a preset second threshold; If not, continue to use radar to monitor the cable; if so, then determine whether the radar cable distance meets the preset conditions; If so, the radar is actively re-identified and positioned in space of the cable and then continues to monitor the cable; if not, the radar is manually re-identified and positioned in space of the cable and then continues to monitor the cable.

[0007] In conjunction with the first aspect, in one embodiment, obtaining the frequency, peak position offset, and radar echo energy of any cable, and calculating the first score value and the second score value based on the frequency, peak position offset, and radar echo energy of the cable, further includes the following steps: The first score is calculated according to the following formula: ; The second score is calculated according to the following formula: ; in, Indicates the Root rope at the moment The first scoring value of the cable is numbered 1, 2, 3, ... N according to the distance from the radar to the nearest one. Indicates the first Root rope, ; Indicates the Root rope at the moment The second rating value of 、 、 They are The relative frequency fluctuation rate, peak position relative offset and radar echo energy change ratio of the cable at time t and time t-1, is the weighted coefficient of the three indicators corresponding to the i-th cable, , It is the mean value of the stability score benchmark constructed by k short cables near the tower end.

[0008] In conjunction with the first aspect, in one embodiment, the method includes: Calculate the first The relative frequency fluctuation rate, peak position relative offset and radar echo energy change ratio of the cable at time t and time t-1 are: ; ; ; in, 、 、 Respectively represent The frequency, peak position offset, and radar echo energy of the root cable at time t, 、 、 Respectively represent The frequency, peak position offset, and radar echo energy of the root cable at time t-1.

[0009] In conjunction with the first aspect, in one embodiment, the method includes: The weighting coefficient is calculated according to the following formula : ; ; ; ; in, is the normalized position factor of the search sequence.

[0010] In combination with the first aspect, in one embodiment, the determining whether the first score value is greater than a preset first threshold and whether the second score value is greater than a preset second threshold further includes the following steps: The first preset threshold is calculated according to the following formula: ; ; ; The preset second threshold is calculated according to the following formula: ; in, represents the first preset threshold, Indicates the preset second threshold, The first evaluation value of the current global cable by the system within the continuous measurement time L frame before time t The mean value of represents the normal score level of the current cable state. The first First evaluation value of the cable The standard deviation of the fluctuation is used to reflect the uncertainty of the overall cable target state or the amplitude of the score fluctuation. m is the sensitivity coefficient for cable deviation judgment. It is configured after measurement and calibration during field deployment. is the perception drift coefficient.

[0011] In combination with the first aspect, in one embodiment, if so, then determining whether the radar cable distance meets a preset condition includes the following steps: Obtain radar peak distance-radar echo energy intensity graph; Extract radar peak distance - the radar peak distance corresponding to all energy intensity peaks in the radar echo energy intensity graph; The extracted radar peak distance is subjected to noise removal to obtain the radar cable distance; Determine whether the radar cable distance meets the preset conditions.

[0012] In combination with the first aspect, in one embodiment, performing noise removal on the extracted radar peak distance to obtain the radar cable distance includes the following steps: The consistency error of each extracted radar peak distance is calculated, and the radar peak distance with a consistency error less than the preset error threshold is retained as the radar cable distance.

[0013] In conjunction with the first aspect, in one embodiment, calculating the consistency error of each extracted radar peak distance includes the following steps: The consistency error of each radar peak distance extracted is calculated according to the following formula: ; in, represents the consistency error, 、 Indicates the currently identified The actual radar cable distance and frequency of the cable, is the frequency consistency error coefficient, which is determined by the cable distance-frequency error relationship, and , It means that the frequency data of the first k cables are updated based on the steady-state historical radar cable distance data, and the first k cables are predicted for each target. Root cable prediction distance, Indicates the distance between the cable radar peak and the radar wave peak. Indicates the actual frequency corresponding to the cable radar peak distance.

[0014] In conjunction with the first aspect, in one embodiment, the method further includes the following steps: Calculate the first With the The average distance between the cables and the With the The average frequency difference between the cables: ; ; The difference in distance between adjacent cables and the difference in frequency between adjacent cables are calculated according to the following formula: ; ; in, 、 Indicates the The predicted radar cable distance and predicted frequency of the root cable, Indicates that in the stable state With the The average distance between the cables, Indicates that in the stable state With the The average frequency difference between the cables, 、 No. The radar cable reference distance and the cable reference frequency in steady state are: 、 No. Radar cable reference distance and cable reference frequency of the root cable in steady state.

[0015] In conjunction with the first aspect, in one embodiment, determining whether the radar cable distance meets a preset condition includes the following steps: Carry out data cycle verification on the radar cable distance to verify whether the radar cable distance meets the requirements. ; If so, it is determined that the radar cable distance meets the preset condition; if not, it is determined that the radar cable distance does not meet the preset condition.

[0016] The beneficial effects of the technical solution provided by the embodiments of the present invention include: obtaining the frequency, peak position offset, and radar echo energy of any cable, and calculating a first score value and a second score value based on the cable frequency, peak position offset, and radar echo energy; judging whether the first score value is greater than a preset first threshold and whether the second score value is greater than a preset second threshold; if not, continuing to use radar to monitor the cable; if so, then judging whether the radar-cable distance meets a preset condition; if so, causing the radar to actively re-identify and locate the spatial position of the cable and continue to monitor the cable; if not, manually causing the radar to re-identify and locate the spatial position of the cable and continue to monitor the cable. The present invention adopts a cable multi-index fusion drift identification and relocation mechanism to achieve accurate and efficient status monitoring of inclined cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 This is a flow chart of a cable monitoring method according to an embodiment of the present invention; Figure 2 A radar cable distance determination flow chart of a cable monitoring method according to an embodiment of the present invention; Figure 3 A schematic diagram of cable deviation in a cable monitoring method according to an embodiment of the present invention; Figure 4 This is a radar peak distance-radar echo energy intensity diagram of the cable monitoring method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0020] Example 1: During the actual operation of long-span bridges, the main girder structure is often affected by factors such as long-term temperature fluctuations, traffic loads, and strong winds, which may cause changes in deflection. Consequently, the cable reflection position will also shift, causing a change in the radar cable distance received by the radar, resulting in a significant drift in the cable's corresponding reflection peak position in the radar peak distance spectrum. If the system continues to extract the cable frequency within the originally set position after the cable's target peak has drifted, the following problems may arise: 1. The frequency measurement target is incorrect: the original peak position no longer corresponds to the target cable, and signals from neighboring cables or background noise may be collected; 2. Frequency calculation distortion: Drift causes the target point's reflected signal energy to decrease or alias, resulting in FFT spectrum distortion and reduced cable force calculation accuracy; 3. Increased anomaly misjudgment: The system may misinterpret frequency changes caused by peak shift as structural anomalies, interfering with health assessments; 4. Long cables are more susceptible to the effect: In the same cable plane, the echo drift of long diagonal cables near the end is more significant, making simultaneous identification and continuous tracking of multiple targets more difficult.

[0021] See also Figure 1 As shown, the cable monitoring method includes the following steps: obtaining the frequency, peak position offset, and radar echo energy of any cable, and calculating a first scoring value and a second scoring value based on the frequency, peak position offset, and radar echo energy of the cable; judging whether the first scoring value is greater than a preset first threshold and whether the second scoring value is greater than a preset second threshold; if not, continuing to use the radar to monitor the cable; if so, judging whether the radar-cable distance meets the preset conditions; if so, causing the radar to actively re-identify and locate the spatial position of the cable and continue to monitor the cable; if not, manually causing the radar to re-identify and locate the spatial position of the cable and continue to monitor the cable.

[0022] During the monitoring of long-span bridges, the cables are numbered 1, 2, 3, ... N according to their distance from the radar. Indicates the first Root rope, The system obtains the first The frequency, peak position offset and radar echo energy of the cable are used to calculate the first Key physical characteristic parameters of the cable include the relative frequency fluctuation rate, relative peak position offset, and radar echo energy change ratio. These parameters correspond to the cable's dynamic characteristics, spatial stability, and energy consistency, respectively, and can effectively reflect cable displacement changes, cable tension levels, and health status.

[0023] After obtaining the cable frequency, peak position offset, and radar echo energy data, the system calculates the first The system then compares the first score and the second score of a cable with a preset first threshold. If the first score is greater than the preset first threshold, the cable is determined to have drifted, and the cable with drift is included in the abnormal candidate set. If the first score is not greater than the preset first threshold, the cable is determined to have not drifted, and the system can continue to monitor the cable. The system then compares the second score of the drifting cable included in the abnormal candidate set with a preset second threshold. If the second score is greater than the preset second threshold, the cable is determined to have continuously drifted. If the second score is not greater than the preset second threshold, the cable is determined to have not continuously drifted, and the system can continue to monitor the cable.

[0024] When the cable drifts continuously, the cable echo position in the radar equipment will also shift. At this time, the system needs to re-identify and locate the new spatial position of the cable before resuming monitoring.

[0025] When the system identifies that the cable is drifting continuously, it immediately retrieves the radar peak distance-radar echo energy intensity diagram at the current moment, extracts the radar peak distance in sequence, and performs a fast Fourier transform (FFT) on each extracted radar peak distance to extract the actual frequency corresponding to the cable radar peak distance, forming a candidate target pair and constructing a candidate target set.

[0026] Lay the foundation for repositioning the cable.

[0027] in, is the set of candidate targets, j is the jth peak in the radar peak distance-radar echo energy intensity map; M is the total number of candidate targets extracted from the radar peak distance-radar echo energy intensity map; To extract radar peak distance from radar peak distance-radar echo energy intensity diagram, The actual frequency corresponding to the radar peak distance.

[0028] During the monitoring process, since the wires, poles, trees, flying objects, etc. near the bridge will generate echo energy, the constructed candidate target set contains clutter, so the constructed candidate target set needs to be denoised.

[0029] First, the monitoring system constructs a structural difference template between the cables based on historical data such as the average distance difference and frequency difference between adjacent cables in the initial steady state, providing data reference for subsequent adaptive identification of drift peaks.

[0030] Secondly, based on the steady-state historical distance data of the first k cables identified, the frequency data of the first k cables are updated, and the frequency of the first k cables is predicted target by target. Possible location of the root cable. Figure 3 As shown in the figure, when the bridge deflection changes, the bridge deck position moves, and the amount of movement is proportional to the horizontal distance from the tower. The farther the bridge deck is from the tower, the greater the change in position. The positions of the first k cables close to the tower are basically unchanged. During the monitoring process, the first k cables tend to be stable and can be used to predict the position of the first k cables one by one. Possible location of the root cable.

[0031] Then, the structural consistency error of each data set in the candidate target set is calculated and compared with a preset error threshold. The radar peak distance where the consistency error is less than the preset error threshold is the radar cable distance. The preset error threshold is a system-set drift error threshold used to constrain cable adaptive matching.

[0032] Data loop verification is performed on the identified radar cable distances to ensure that the actual physical relationship between the cables meets the corresponding logic, that is, the distance between the radar cables with smaller numbers is smaller than that of the radar cables with larger numbers. If so, the radar will actively re-identify and locate the spatial position of the cables and continue monitoring. If not, the system will prompt and alert the abnormal target and retain the historical structure template of the target cable. During subsequent monitoring, the system will allow the numbered cables to be re-identified based on time series trend judgment and manually assist in the number binding correction.

[0033] The present invention provides a cable monitoring method, which uses a set continuous drift judgment mechanism to determine whether the cable has undergone continuous drift during actual monitoring, and repositions and identifies the cable that has undergone continuous drift, thereby achieving accurate and efficient status monitoring of the inclined cable.

[0034] Example 2: The cable monitoring method further includes the following steps: obtaining the frequency, peak position offset, and radar echo energy of any cable, and calculating a first score value and a second score value based on the frequency, peak position offset, and radar echo energy of the cable, and calculating the first score value according to the following formula: The first score is calculated according to the following formula: ; The second score is calculated according to the following formula: ; in, Indicates the Root rope at the moment The first scoring value of the cable is numbered 1, 2, 3, ... N according to the distance from the radar to the nearest one. Indicates the first Root rope, ; Indicates the Root rope at the moment The second rating value of 、 、 They are The relative frequency fluctuation rate, peak position relative offset and radar echo energy change ratio of the cable at time t and time t-1, is the weighted coefficient of the three indicators corresponding to the i-th cable, , It is the mean value of the stability score benchmark constructed by k short cables near the tower end.

[0035] K short cables near the tower end are used to construct the stability score benchmark mean The specific calculation formula is as follows: ; In a cable-stayed bridge structure, the cable numbers increase from the tower to the mid-span on both sides. The short cables close to the tower are less affected by the deflection of the main beam, and their echo peak positions are relatively stable in most cases. Therefore, in the drift judgment process, the short cables with small numbers close to the tower can be used as a reference for the "structural stability anchor point" to assist in judging whether the score anomaly of the long cable at the far end is real and valid. Specifically, 2-3 cables in front of a cable are generally selected to construct the stability score benchmark average. .

[0036] Example 3: The cable monitoring method includes: calculating the first The relative frequency fluctuation rate, peak position relative offset and radar echo energy change ratio of the cable at time t and time t-1 are: ; ; ; in, 、 、 Respectively represent The frequency, peak position offset, and radar echo energy of the root cable at time t, 、 、 Respectively represent The frequency, peak position offset, and radar echo energy of the root cable at time t-1.

[0037] Example 4: The cable monitoring method includes calculating the weighting coefficient according to the following formula: : ; ; ; ; in, It is the normalized position factor of the index sequence, which changes according to the position of the index number.

[0038] Normalized parameter settings enable the system to no longer rely on the absolute value at a certain moment, but instead focus on relative changes, which can more stably reflect the drift trend. Then, the drift conditions of different cables can be compared under the same benchmark, improving the reliability of abnormality judgment.

[0039] Example 5: The cable monitoring method further comprises the following steps of determining whether the first score value is greater than a preset first threshold value and whether the second score value is greater than a preset second threshold value: The first preset threshold is calculated according to the following formula: ; ; ; The preset second threshold is calculated according to the following formula: ; in, represents the first preset threshold, Indicates the preset second threshold, The first evaluation value of the current global cable by the system within the continuous measurement time L frame before time t The mean value of represents the normal score level of the current cable state. The first First evaluation value of the cable The standard deviation of the fluctuation is used to reflect the uncertainty of the overall cable target state or the amplitude of the score fluctuation. m is the sensitivity coefficient for cable deviation judgment. It is configured after measurement and calibration during field deployment. is the perception drift coefficient.

[0040] Example 6: See also Figure 2 As shown, the cable monitoring method of the present invention further determines whether the radar cable distance meets the preset conditions, including the following steps: obtaining a radar peak distance-radar echo energy intensity diagram; extracting the radar peak distances corresponding to all energy intensity peaks in the radar peak distance-radar echo energy intensity diagram; performing noise removal processing on the extracted radar peak distances to obtain the radar cable distance; and determining whether the radar cable distance meets the preset conditions.

[0041] When the system identifies that the cable has continuously drifted, it immediately retrieves the radar peak distance-radar echo energy intensity diagram at the current moment, extracts the radar peak distance signal in sequence, and performs a fast Fourier transform (FFT) on each extracted radar peak distance signal to extract the actual frequency corresponding to the cable radar peak distance, forming a candidate target pair and constructing a candidate target set.

[0042] The candidate target set contains clutter, so it is necessary to perform noise removal on the candidate target set.

[0043] First, the monitoring system constructs a structural difference template between the cables based on historical data such as the average distance difference and frequency difference between adjacent cables in the initial steady state, providing data reference for subsequent adaptive identification of drift peaks.

[0044] Secondly, based on the steady-state historical distance data of the first k cables identified, the frequency data of the first k cables are updated, and the frequency of the first k cables is predicted target by target. Possible location of the root cable. Figure 3As shown in the figure, when the bridge deflection changes, the bridge deck position moves, and the amount of movement is proportional to the horizontal distance from the tower. The farther away from the tower, the greater the change in the bridge deck position. The positions of the first k cables close to the tower are basically unchanged. During the monitoring process, the first k cables tend to be stable, which can be used to predict the next target one by one. Possible location of the root cable.

[0045] Then, the structural consistency error of each data set in the candidate target set is calculated and compared with a preset error threshold. The radar peak distance where the consistency error is less than the preset error threshold is the radar cable distance. The preset error threshold is a system-set drift error threshold used to constrain cable adaptive matching.

[0046] Data loop verification is performed on the identified radar cable distances to ensure that the actual physical relationship between the cables meets the preset condition that the distance between the radar cables with smaller numbers is smaller than the distance between the radar cables with larger numbers.

[0047] By constructing a candidate target set By utilizing the radar peak distance and the actual frequency information corresponding to the cable radar peak distance, the radar peak drift corresponding to the cable can be accurately located. This solves the problem of misjudgment caused by traditional reliance on a single amplitude or frequency, and achieves stable recognition in complex environments.

[0048] Example 7: The cable monitoring method removes noise from the extracted radar peak distance to obtain the radar cable distance, including the following steps: calculating the consistency error of each extracted radar peak distance, and retaining the radar peak distance with a consistency error less than a preset error threshold as the radar cable distance.

[0049] Because radar collects all radar echo energy during monitoring, interference from nearby wires, poles, trees, and flying objects must be filtered out to obtain the actual cable radar echo energy. The consistency error value can effectively filter out the echo energy generated by these interference factors.

[0050] Example 8: The calculation and extraction of the consistency error of each radar peak distance in the cable monitoring method includes the following steps: The consistency error of each radar peak distance extracted is calculated according to the following formula: ; in, represents the consistency error, 、 Indicates the currently identified The actual radar cable distance and frequency of the cable, is the frequency consistency error coefficient, which is determined by the cable distance-frequency error relationship, and , It means that the frequency data of the first k cables are updated based on the steady-state historical radar cable distance data, and the first k cables are predicted for each target. Root cable prediction distance, Indicates the distance between the cable radar peak and the radar wave peak. Indicates the actual frequency corresponding to the cable radar peak distance.

[0051] By defining the consistency error formula The dual factors of radar cable distance and frequency are combined to form a quantifiable numerical criterion, providing an intuitive and calculable judgment standard, facilitating engineering implementation. The combination of multi-dimensional indicators (radar cable distance and frequency) can also significantly reduce false alarms associated with single-dimensional indicators.

[0052] Example 9: The cable monitoring method further comprises the following steps: Calculate the first With the The average distance between the cables and the With the The average frequency difference between the cables: ; ; The difference in distance between adjacent cables and the difference in frequency between adjacent cables are calculated according to the following formula: ; ; in, 、 Indicates the The predicted radar cable distance and predicted frequency of the root cable, Indicates that in the stable state With the The average distance between the cables, Indicates that in the stable state With the The average frequency difference between the cables, 、 No. The radar cable reference distance and the cable reference frequency in steady state are: 、 No. Radar cable reference distance and cable reference frequency of the root cable in steady state.

[0053] Example 10: The method for determining whether the radar cable distance meets a preset condition includes the following steps: Carry out data cycle verification on the radar cable distance to verify whether the radar cable distance meets the requirements. ; If so, it is determined that the radar cable distance meets the preset condition; if not, it is determined that the radar cable distance does not meet the preset condition.

[0054] The added cable data rationality verification method, which determines whether the drift meets the preset distance condition, avoids mistaking close-range interference peaks for actual cable targets. This method has clear logic and simple calculations, making it easy to quickly deploy in actual bridge monitoring systems.

[0055] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper" and "lower" is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0056] It should be noted that, in the present invention, relational terms such as "first" and "second" are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element.

[0057] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A cable monitoring method, characterized in that: The following steps are involved: Obtain the frequency, peak position offset, and radar echo energy of any cable, and calculate a first score value and a second score value based on the frequency, peak position offset, and radar echo energy of the cable; Determine whether the first score value is greater than a preset first threshold and whether the second score value is greater than a preset second threshold; If not, continue to use radar to monitor the cable; if so, then determine whether the radar cable distance meets the preset conditions; If so, the radar is actively re-identified and positioned in space of the cable and then continues to monitor the cable; if not, the radar is manually re-identified and positioned in space of the cable and then continues to monitor the cable.

2. A cable monitoring method according to claim 1, characterized in that: The method of obtaining the frequency, peak position offset, and radar echo energy of any one of the cables, and calculating the first and second scoring values ​​based on the frequency, peak position offset, and radar echo energy of the cables, further includes the following steps: The first score is calculated according to the following formula: ； The second score is calculated according to the following formula: ； in, Indicates the Root rope at the moment The first scoring value of the cable is numbered 1, 2, 3, ... N according to the distance from the radar to the nearest one. Indicates the first Root rope, ; Indicates the Root rope at the moment The second rating value of 、 、 They are The relative frequency fluctuation rate, peak position relative offset and radar echo energy change ratio of the cable at time t and time t-1, is the weighted coefficient of the three indicators corresponding to the i-th cable, , It is the mean value of the stability score benchmark constructed by k short cables near the tower end.

3. A cable monitoring method according to claim 2, characterized in that: Calculate the first The relative frequency fluctuation rate, peak position relative offset and radar echo energy change ratio of the cable at time t and time t-1 are: ； ； ； in, 、 、 Respectively represent The frequency, peak position offset, and radar echo energy of the root cable at time t, 、 、 Respectively represent The frequency, peak position offset, and radar echo energy of the root cable at time t-1.

4. A cable monitoring method according to claim 2, characterized in that: The weighting coefficient is calculated according to the following formula : ； ； ； ； in, is the normalized position factor of the search sequence.

5. A cable monitoring method according to claim 1, characterized in that: The step of determining whether the first score value is greater than a preset first threshold and whether the second score value is greater than a preset second threshold further includes the following steps: The first preset threshold is calculated according to the following formula: ； ； ； The preset second threshold is calculated according to the following formula: ； in, Indicates the preset first threshold, Indicates the preset second threshold, The first evaluation value of the current global cable by the system within the continuous measurement time L frame before time t The mean value of represents the normal score level of the current cable state. The first First evaluation value of the cable The standard deviation of the fluctuation is used to reflect the uncertainty of the overall cable target state or the amplitude of the score fluctuation. m is the sensitivity coefficient for cable deviation judgment. It is configured after measurement and calibration during field deployment. is the perception drift coefficient.

6. A cable monitoring method according to claim 1, characterized in that: If so, determining whether the radar cable distance meets the preset conditions includes the following steps: Obtain radar peak distance-radar echo energy intensity graph; Extract radar peak distance - the radar peak distance corresponding to all energy intensity peaks in the radar echo energy intensity graph; The extracted radar peak distance is subjected to noise removal to obtain the radar cable distance; Determine whether the radar cable distance meets the preset conditions.

7. A cable monitoring method according to claim 6, characterized in that: The step of removing noise from the extracted radar peak distance to obtain the radar cable distance comprises the following steps: The consistency error of each extracted radar peak distance is calculated, and the radar peak distance with a consistency error less than the preset error threshold is retained as the radar cable distance.

8. A cable monitoring method according to claim 7, characterized in that: The calculation of the consistency error of each radar peak distance extracted comprises the following steps: The consistency error of each radar peak distance extracted is calculated according to the following formula: ； in, represents the consistency error, 、 Indicates the currently identified The actual radar cable distance and frequency of the cable, is the frequency consistency error coefficient, which is determined by the cable distance-frequency error relationship, and , It means that the frequency data of the first k cables are updated based on the steady-state historical radar cable distance data, and the first k cables are predicted for each target. Root cable prediction distance, Indicates the distance between the cable radar peak and the radar wave peak. Indicates the actual frequency corresponding to the cable radar peak distance.

9. A cable monitoring method according to claim 8, characterized in that: The following steps are also included: Calculate the first With the The average distance between the cables and the With the The average frequency difference between the cables: ； ； The difference in distance between adjacent cables and the difference in frequency between adjacent cables are calculated according to the following formula: ； ； in, 、 Indicates the The predicted radar cable distance and predicted frequency of the root cable, Indicates that in the stable state With the The average distance between the cables, Indicates that in the stable state With the The average frequency difference between the cables, 、 No. The radar cable reference distance and the cable reference frequency in steady state are: 、 No. Radar cable reference distance and cable reference frequency of the root cable in steady state.

10. A cable monitoring method according to claim 6, characterized in that: The process of determining whether the radar cable distance meets a preset condition comprises the following steps: Carry out data cycle verification on the radar cable distance to verify whether the radar cable distance meets the requirements. ; If so, it is determined that the radar cable distance meets the preset condition; if not, it is determined that the radar cable distance does not meet the preset condition.

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