Deformation monitoring method and system for drainage pipeline

Abstract

The invention belongs to the technical field of municipal infrastructure operation and maintenance monitoring, and particularly relates to a drainage pipeline deformation monitoring method and system, and the system comprises a data collection module which comprises a three-dimensional monitoring unit and a multi-point monitoring unit, the three-dimensional monitoring unit obtains three-dimensional point cloud data through tunnel-surrounding three-dimensional laser scanning, and provides a basis for the modeling of a drainage pipeline; the multi-point monitoring unit is installed at different positions of the drainage pipeline by adopting various monitoring devices; the data transmission module is used for transmitting the monitoring data and the analysis result; the data analysis module is used for cleaning, complementing and normalizing the monitoring data and carrying out time synchronization and coordinate unification; according to the invention, a whole set of drainage pipeline monitoring system is constructed, the accurate three-dimensional model of the drainage pipeline is constructed according to the processed point cloud data by using the annular tunnel three-dimensional laser scanning technology, and the monitoring effect of the whole drainage pipeline monitoring system is improved.

Description

Technical Field

[0001] This invention relates to the field of municipal infrastructure operation and maintenance monitoring technology, specifically to a method and system for monitoring the deformation of drainage pipelines. Background Technology

[0002] Drainage pipelines are constantly affected by factors such as soil cover, surface loads, groundwater level changes, and disturbances from surrounding construction, making them prone to deformations such as convergence, ellipticization, settlement, and tilting. Current monitoring methods rely heavily on manual inspections and qualitative judgments from a limited number of monitoring points, which suffer from poor visibility, limited access windows, insufficient monitoring points to reflect overall trends, data lag, and missed reports. Ensuring reliable data acquisition and transmission over long distances in environments with weak signals and high humidity and corrosion is also challenging. Therefore, a monitoring solution that combines high precision, continuity, and highly reliable communication is urgently needed to achieve rapid identification and early warning of pipeline deformation. Summary of the Invention

[0003] To address the problems of incomplete data collection, unstable communication, untimely analysis, and unreliable early warning in existing technologies, a deformation monitoring method and system suitable for drainage pipelines is proposed. This system enables high-precision 3D modeling and overall deformation analysis of the pipeline inner wall, multi-index fusion analysis, anomaly detection and trend prediction, as well as hierarchical early warning and on-site / remote multi-channel linkage.

[0004] To achieve the above objectives, the present invention provides the following technical solution: A drainage pipe deformation monitoring system, comprising: Data acquisition module: includes 3D monitoring and multi-point monitoring units. The 3D monitoring uses 3D laser scanning of the tunnel ring to acquire 3D point cloud data, providing a basis for modeling drainage pipelines. The multi-point monitoring unit employs various monitoring devices installed at different locations along the drainage pipeline; Data transmission module: used to transmit monitoring data and analysis results; Data analysis module: used to clean, complete and normalize monitoring data, and to synchronize time and unify coordinates; Monitoring and alarm module: Converts abnormal data into abnormal signals, then converts the abnormal signals into transmittable instructions, and finally sends the instructions to the terminal for early warning.

[0005] Preferably, a three-dimensional model of the drainage pipe is constructed using the point cloud data obtained by scanning, and three-dimensional morphological data of the drainage pipe at different time points are obtained. The deformation of the drainage pipe is evaluated by comparing and analyzing these data. The monitoring equipment includes a hydrostatic level, a measuring robot, a laser rangefinder, a crack gauge, and a multi-point displacement meter, which are used to monitor the stress, strain, deformation, and crack parameters of drainage pipes in real time. The data transmission module comprises a monitoring node, a LoRa wireless communication device, a repeater and a gateway, and supports wired / cellular backhaul to the main server; Based on the point cloud data, three-dimensional model reconstruction is realized, convergence, ellipticity, longitudinal settlement, horizontal displacement and inclination are calculated, and abnormal detection and trend analysis are carried out. The monitoring and alarm module has various early warning modes, including mobile phone short message, WeChat applet, APP or sound and light alarm device, which can timely remind the staff to pay attention to the changes in the drainage pipeline.

[0006] Preferably, the system also has a historical data trend analysis module, which establishes a normal deformation threshold range based on historical data, sets multiple thresholds for different time periods and sections, including early warning thresholds, alarm thresholds and emergency thresholds, and automatically marks abnormal data when real-time data exceeds the threshold or the deformation rate suddenly increases. Trend prediction: using time series analysis algorithm, based on historical deformation data to predict future pipeline deformation trend, to identify potential risks in advance and to warn of pipeline rupture risk caused by slow settlement in advance.

[0007] A monitoring method of a drainage pipeline deformation monitoring system, comprising the following steps: S1, data acquisition: periodically scanning the drainage pipeline by using three-dimensional laser scanning, covering the cross section and longitudinal range of the pipeline, and obtaining high-precision point cloud; at the same time, multiple monitoring nodes are arranged in the pipeline to collect real-time data such as settlement, crack, displacement, strain and water pressure; S2, data preprocessing and model reconstruction: denoising, filtering, time synchronization, interpolation completion and normalization are performed on the point cloud and sensor data, and the three-dimensional model of the pipeline is reconstructed based on the registered point cloud; S3, data transmission: the collected data is transmitted to the relay through LoRa ad hoc network, and the relay reports to the gateway, and the gateway returns to the main server through Ethernet or cellular network; S4, data analysis: from the reconstructed model and sensor data, calculate convergence, ellipticity, longitudinal settlement, horizontal displacement and inclination, and perform abnormal detection and trend prediction; S5, early warning and linkage: based on the multi-level threshold and trend result, trigger early warning or alarm through short message, telephone, email, WeChat applet, APP or in-pipe sound and light alarm device, and start the corresponding disposal plan.

[0008] Compared with the prior art, the beneficial effects of the present application are: 1) The present application can quickly monitor, analyze and upload the settlement, horizontal movement, horizontal deformation and tilt deformation data of the drainage pipeline by constructing a complete drainage pipeline monitoring system, using the ring tunnel three-dimensional laser scanning technology to construct the accurate three-dimensional model of the drainage pipeline according to the processed point cloud data, and cooperating with the multi-point monitoring equipment inside the drainage pipeline. At the same time, according to the problem of signal difference inside the drainage pipeline, the LoRa wireless communication technology is adopted to cooperate with the repeater and gateway equipment to stably and quickly send the monitoring data to the data processing center, so as to improve the monitoring effect of the whole drainage pipeline monitoring system. 2) The present application can help personnel quickly find potential problems and trends in data by importing data into FineBI for analysis, constructing an accurate three-dimensional model of the drainage pipeline, and realizing rapid analysis of settlement, horizontal movement, horizontal deformation and tilt. At the same time, the Beidou ground-based enhanced base station is installed inside the drainage pipeline to solve the problem of poor signal strength inside the drainage pipeline. BRIEF DESCRIPTION OF DRAWINGS

[0009] Fig. 1 The system overall architecture of the present application is shown in the figure. Fig. 2 The system data flow diagram of the present application is shown in the figure. DETAILED DESCRIPTION

[0010] The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0011] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "top", "bottom", "inside", "outside" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0012] Embodiment: Please refer to Figs. 1-2 The present application provides the following technical solutions: A drainage pipeline deformation monitoring system, comprising: Data acquisition module: including three-dimensional monitoring and multi-point monitoring, three-dimensional monitoring uses three-dimensional laser scanning equipment to be laid in the inspection well or movable platform, scans the space in the pipe according to the set period, and obtains time series point cloud. The multi-point monitoring unit can set monitoring sections every 20-50 m along the pipe axis. Several kinds of static leveling instrument, displacement meter, strain gauge and joint meter are arranged in each section. The specific scheme is optimized according to the pipe diameter, material and risk section.

[0013] Data transmission module: realize the transmission of the collected drainage pipe deformation data information and the monitoring information after analysis and processing; adopt LoRa ad hoc network of node-relay-gateway, the gateway returns through Ethernet, 4G / 5G; add Beidou ground enhanced micro base station to enhance the time service and positioning reference.

[0014] Data analysis module: including data cleaning, data completion, data transformation, the purpose of data cleaning is to remove invalid data and abnormal data, such as abnormal values caused by sensor failure, data completion uses interpolation method to supplement the missing data, and finally data transformation includes data standardization and normalization, so as to subsequent analysis, after data preprocessing is completed, data is imported into FineBI for analysis, which can help personnel quickly find potential problems and trends in data; Monitoring alarm module: including multiple early warning mode selection and drainage pipe internal alarm, multiple early warning modes include SMS, telephone, email, WeChat applet, and multiple early warning modes are flexibly selected to remind personnel to pay attention to the changes in the drainage pipe, and internal alarm in the drainage pipe adopts internal installation alarm lamp and alarm to remind the staff inside and outside the drainage pipe.

[0015] Data transmission module includes data collector, LoRa wireless communication equipment, repeater and main server, data collector, LoRa wireless communication equipment, repeater and main server can be connected by wireless and wired connection.

[0016] The data transmission module includes Beidou ground enhanced base station to solve the problem of poor signal strength in the drainage pipe.

[0017] Data acquisition module, data transmission module, data analysis module and monitoring alarm module are connected by wireless GPRS data transmission module.

[0018] The system also sets a historical data trend analysis module, establishes a normal deformation threshold range based on historical data, sets multiple thresholds for different time periods and road sections, and the multiple thresholds include early warning threshold, alarm threshold and emergency threshold. When the real-time data exceeds the threshold or the deformation rate suddenly increases, the abnormal data is automatically marked; Trend prediction: Using time series analysis algorithm, based on historical deformation data to predict the future trend of pipeline deformation, to identify potential risks in advance, and to warn of the risk of pipeline rupture caused by slow settlement in advance; According to the severity of abnormal data predicted by trend, the warning is divided into three levels: First level trend warning (reminder): Trend prediction shows that the future may exceed the standard, and the deformation data is close to the historical threshold, with no immediate risk; Second level trend warning (alarm): Trend prediction shows that the future deformation rate will accelerate, and the deformation data is close to the historical warning threshold, or there is some risk; Third level trend warning (emergency): Trend prediction shows that the pipeline will have obvious cracks and leaks in the future, and the deformation data is close to the historical alarm threshold, with immediate safety risk; The historical data trend analysis module is linked with the monitoring and alarm module to automatically associate the preset disposal plan: First level warning: Push the "strengthen monitoring" instruction, and automatically increase the sampling frequency of the monitoring equipment in this section; Second level warning: Push the "on-site verification" instruction, automatically generate a verification task sheet, assign it to the nearest maintenance personnel, and push the navigation route at the same time; Third level warning: In addition to pushing the emergency verification instruction, automatically contact the pipeline management unit responsible person and emergency repair team, and report to the municipal management department at the same time, and close the upstream valve of the pipeline in this section or remind the relevant personnel to close in time, reduce the further damage of the water flow in the pipe to the pipeline; Through the historical data trend analysis module, existing data and historical data can be compared to build a trend model, improving the accuracy and timeliness of system prediction.

[0019] A drainage pipeline deformation monitoring method, comprising the following steps: S1, monitor the multi-point and deformation data of the drainage pipeline: use high-precision three-dimensional laser scanner to periodically scan the ring-shaped drainage pipeline, obtain high-precision three-dimensional point cloud data inside the drainage pipeline, and the scanning process should cover the entire cross section and longitudinal extension of the drainage pipeline, to ensure the comprehensiveness and accuracy of the data, while the multiple monitoring devices installed at the inner end of the drainage pipeline are used for real-time monitoring, and the stress, strain, deformation, crack, water pressure parameters of the major safety risk points in the drainage pipeline are measured in real time.

[0020] S2, data processing: pre-process the collected point cloud data, including denoising, filtering, registration steps, to improve the quality and availability of data, according to the processed point cloud data, construct an accurate three-dimensional model of the drainage pipeline, and in the specific process of constructing the model: the mesh model is composed of a series of vertices and faces, which can approximately represent the geometric shape of the object. In the mesh generation process, the density and distribution of the mesh need to be adjusted to ensure that the model is neither too rough nor too complex. At the same time, the mesh needs to be smoothed to remove unnecessary details and noise, making the model smoother and more accurate. After obtaining the preliminary three-dimensional mesh model, modeling software such as Blender, SketchUp, etc. can be used for further modeling and refinement. By manually adjusting or using automatic modeling tools, the surface texture, color, shape and other properties of the model can be modified to make it more in line with actual needs. After modeling and refinement, the three-dimensional model is exported to the required format and file type (such as STL, OBJ, FBX, etc.) for use in different platforms and software. The exported model can be used for 3D printing, virtual reality, game development and other application scenarios.

[0021] S3, data transmission: the monitored data is converted into wireless signals by the wireless data acquisition instrument, and transmitted to the repeater through LoRa wireless communication technology. The repeater receives the wireless signals from the monitoring points and forwards them to the gateway device. The gateway device is responsible for converting the wireless signals into wired signals or transmitting them to the data processing center through the network. S4, data analysis: through data cleaning, data completion, data transformation, data preprocessing is completed, then data is imported into FineBI for fusion analysis, which can help personnel quickly find potential problems and trends in data, realize settlement quantity analysis, horizontal movement analysis, horizontal deformation analysis and inclination deformation analysis. S5, early warning work: according to the monitoring data information, automatically publish early warning information or alarm information, and start the emergency plan processing scheme. When a certain monitoring index exceeds the preset alarm value in the system, the information will be notified to the relevant staff through SMS, phone, email, WeChat applet, APP and start the alarm, realizing drainage pipeline operation monitoring, early warning and alarm operation.

[0022] The foregoing illustrates and describes embodiments of the present application. However, it is to be understood that the application is not limited to the above-described embodiments, and that various changes and modifications can be suggested to one skilled in the art. It is intended that the present application encompass any and all such changes and modifications without departing from the spirit or scope of the underlying principles of the application. In addition, it should be understood that the figures are not necessarily drawn to scale and that, where appropriate, reference numerals have been maintained from one figure to another and from one embodiment to another in order to illustrate similar constructions.

[0023] While the application has been illustrated and described in detail in the drawings and foregoing description, the same is to be considered as illustrative and not restrictive in character, since the scope of the application is indicated by the appended claims rather than by the foregoing description, and all changes and modifications that come within the meaning of the claims are desired to be embraced therein.

Claims

1. A sewer deformation monitoring system, characterized by, Comprise: Data acquisition module: including three-dimensional monitoring and multi-point monitoring unit, the three-dimensional monitoring utilizes ring tunnel three-dimensional laser scanning to obtain three-dimensional point cloud data, and provides foundation for modeling of drainage pipe; The multi-point monitoring unit adopts various monitoring devices installed at different positions of the drainage pipe; Data transmission module: for transmitting monitoring data and analysis results; Data analysis module: for cleaning, completing and normalizing monitoring data, time synchronization and coordinate unification; Monitoring alarm module: abnormal data is converted into abnormal signal, and the abnormal signal is converted into transmissible instruction, and the instruction is sent to terminal for early warning.

2. The drainage pipe deformation monitoring system according to claim 1, wherein: The point cloud data obtained by scanning is used to construct a three-dimensional model of the drainage pipe, obtain three-dimensional shape data of the drainage pipe at different time points, and evaluate the deformation of the drainage pipe by comparing and analyzing the data; The monitoring devices include static level gauge, measurement robot, laser range finder, joint meter and multi-point displacement meter, which are used to monitor the stress, strain, deformation and crack parameters of the drainage pipe in real time; The data transmission module includes monitoring nodes, LoRa wireless communication devices, repeaters and gateways, and supports wired / cellular backhaul to the main server; Based on the point cloud data, a three-dimensional model is reconstructed, and indexes such as convergence, ellipticity, longitudinal settlement, horizontal displacement and inclination are calculated, and abnormal detection and trend analysis are performed; The monitoring alarm module has multiple early warning modes, including mobile phone message, WeChat applet, APP or sound and light alarm device, which can timely remind the staff to pay attention to the changes in the drainage pipe.

3. The drainage pipe deformation monitoring system according to claim 1, wherein: The system also has a historical data trend analysis module, which establishes a normal deformation threshold range based on historical data, sets multiple thresholds for different time periods and sections, and the multiple thresholds include early warning threshold, alarm threshold and emergency threshold. When the real-time data exceeds the threshold or the deformation rate suddenly increases, the data is automatically marked as abnormal data; Trend prediction: using time series analysis algorithm, based on historical deformation data to predict future pipe deformation trend, to identify potential risks in advance and to early warning the risk of pipe rupture caused by slow settlement.

4. The monitoring method of a sewer deformation monitoring system according to claim 2, characterized in that: The steps include: S1, data acquisition: periodically scanning the drainage pipe by three-dimensional laser scanning, covering the cross section and longitudinal range of the pipe, and obtaining high-precision point cloud; at the same time, multiple monitoring nodes are arranged in the pipe to collect data such as settlement, crack, displacement, strain and water pressure in real time; S2, data preprocessing and model reconstruction: denoising, filtering, time synchronization, interpolation completion and normalization are performed on the point cloud and sensor data, and the three-dimensional model of the pipe is reconstructed based on the registered point cloud; S3, data transmission: the collected data is transmitted to the repeater through LoRa ad hoc network, reported to the gateway by the repeater, and transmitted back to the main server through Ethernet or cellular network by the gateway; S4, data analysis: calculate convergence, ellipticity, longitudinal settlement, horizontal displacement and inclination from the reconstructed model and sensor data, and perform abnormal detection and trend prediction. S5, early warning and linkage: based on multi-level threshold and trend results trigger early warning or alarm, through SMS, telephone, email, WeChat applet, APP or in the sound and light warning device, and start the corresponding disposal plan.

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