A radar-based dynamic monitoring device for steel structure deformation and its usage method

Abstract

This application discloses a radar-based dynamic monitoring device for steel structure deformation and its usage method, comprising: a radar detection module for transmitting and receiving radar signals; a triangular pyramidal reflection module disposed at the test point of the steel structure to enhance the reflection of radar signals; a positioning module disposed on the triangular pyramidal reflection module for determining the position of the triangular pyramidal reflection module; an angle execution module for adjusting the transmission angle of the radar detection module according to the position of the triangular pyramidal reflection module fed back by the positioning module; and a processing module for processing the radar signals, determining whether the change between the initial and subsequent positions of the test point over a time period exceeds a threshold, and if so, issuing a filing instruction. This achieves the goal of accurately monitoring localized abrupt changes in bridge and building steel structures during load testing or hoisting and assembly, preventing potential hazards and improving construction safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction assistance, in particular to a steel structure deformation dynamic monitoring device based on radar detection and a use method thereof. BACKGROUND

[0002] Steel structure is a relatively important load-bearing raw material in building construction. In recent years, more and more buildings have begun to use large-span steel structures. Large-span steel structures are lighter in quality than traditional concrete, can be designed in various shapes, and have a shorter construction period. Steel structure engineering has a service life. After years of use, it needs to be evaluated whether the service life meets the requirements. If the steel member appears initial bending and deformation, it is difficult to find or detect by conventional methods.

[0003] In the construction or acceptance of steel structures, after the steel structure is generally assembled, it needs to be hoisted by a hoisting device. However, since the steel structure is more than one hundred tons, the steel columns are prone to deformation or relative displacement during hoisting, which poses a certain safety hazard. In addition, after the steel structure is installed, its installation quality needs to be detected and measured to check whether it meets the design requirements. Currently, steel structure hoisting is usually observed and judged by skilled workers, which has poor accuracy and is prone to miss the small deformation in the steel structure hoisting process, resulting in construction hazards in the later period.

[0004] The existing steel structure deformation monitoring method uses radar to monitor the deformation of the steel structure in a static state, but cannot provide targeted early warning according to the degree of deformation, and has poor flexibility in use. SUMMARY

[0005] The embodiments of the present application provide a steel structure deformation dynamic monitoring device based on radar detection and a use method thereof, which are used to solve the problem that the existing structure deformation monitoring method uses radar to monitor the deformation of the steel structure in a static state, cannot provide targeted early warning according to the degree of deformation, and has poor flexibility in use.

[0006] The technical scheme provided by the embodiments of the present application is as follows:

[0007] In a first aspect, the embodiments of the present application provide a steel structure deformation dynamic monitoring device based on radar detection, which comprises:

[0008] A multi-source perception unit comprising a radar detection module for transmitting and receiving radar signals, wherein the radar detection module comprises a continuous wave radar;

[0009] A triangular pyramid reflection module arranged at a to-be-measured point of the steel structure for enhancing reflected radar signals, comprising an active target with an identity code;

[0010] A positioning module is arranged on the triangular pyramid reflection module, and is used to determine the position of the triangular pyramid reflection module;

[0011] An angle executing module is used to adjust the emission angle of the radar detection module according to the position of the triangular pyramid reflection module fed back by the positioning module.

[0012] A processing module is used to process the radar signal, and judge whether the change of the preceding position and the subsequent position of the to-be-measured point in the time period exceeds a threshold value, if yes, an archiving instruction is issued, the archiving instruction includes: establishing a finite element analysis model of the steel structure as a digital twin; if the change of the preceding position and the subsequent position of the to-be-measured point in the time period exceeds the threshold value, a multi-level early warning is started, the multi-level early warning includes: a first attention, the deformation or the predicted deformation reaches 80% of the threshold value, the system sends a prompt information to a monitoring screen; a second early warning, reaching 95% of the threshold value, the system issues an audible and light alarm to remind the on-site personnel to pay close attention; a third alarm, exceeding the threshold value, the system issues the highest level alarm, and automatically sends a shutdown signal to a crane control system to force the hoisting operation to be suspended, and the safety is maximally guaranteed.

[0013] Further, the multi-source sensing unit further includes a high-precision IMU attitude compensation module; the high-precision IMU attitude compensation module is used to reduce the monitoring error caused by the deformation of the radar detection module, and filter the inertial displacement of the steel structure when the radar detection module acquires data, and only the elastic displacement data of the steel structure is reserved.

[0014] Further, the multi-source sensing unit further includes a visual recognition module, the visual recognition module is used to identify the identity code of the to-be-measured point, and provide visual positioning data, and if the radar detection module monitors the position abnormality of the to-be-measured point, the visual recognition module is used to judge whether the position abnormality is caused by foreign matter interference, the foreign matter includes fallen leaves and flying birds.

[0015] Further, the multi-level early warning includes a single-point multi-level early warning, the single-point multi-level early warning includes the following early warning formula:

[0016] v(t) = Δtd(t) - d(t - Δt)

[0017] Wherein, v(t): displacement change rate, unit mm / s;

[0018] d(t): real-time displacement of the to-be-measured point at time t, unit mm;

[0019] Δt: monitoring time interval, unit s;

[0020] Level 1 Warning: A prompt is triggered when |d(t)| ≥ 0.8dthresh×C or |v(t)| ≥ 0.8vthresh×C; Level 2 Warning: An audible and visual alarm is triggered when |d(t)| ≥ 0.95dthresh×C or |v(t)| ≥ 0.95vthresh×C; Level 3 Alarm: A shutdown command is triggered when |d(t)| > dthresh×C or |v(t)| > vthresh×C; dthresh is the maximum allowable displacement threshold for structural safety; C is the confidence level of multi-source data; vthresh is the rate threshold.

[0021] Furthermore, the multi-level early warning includes multi-point collaborative early warning, which includes the following formula:

[0022] δij(t)=∣di(t)−dj(t)∣

[0023] Where, di(t): the displacement of the i-th point to be measured;

[0024] δij(t): The relative displacement difference between associated points i and j;

[0025] Multi-point collaborative early warning triggering condition: When δij(t)>δthresh,ij×C, a level two early warning must be triggered even if a single point does not exceed the threshold; δthresh,ij refers to the allowable relative displacement threshold.

[0026] Furthermore, when an alarm is triggered, the system automatically records all sensor data, video recordings, and operating parameters for 30 seconds before and after the alarm, generating a complete event report.

[0027] Furthermore, the triangular cone reflection module is also equipped with an acceleration sensor for real-time detection of acceleration during the hoisting process of the steel structure.

[0028] Secondly, embodiments of this application provide a method for using a radar-based dynamic monitoring device for steel structure deformation, including:

[0029] Arrange multiple triangular pyramid reflectors at appropriate locations within the measured space;

[0030] The phased array continuous wave radar transmitting base station emits continuous radar waves. At the same time, under the action of the rotating base, the radar waves rotate and scan in the measurement space to form a measurement network.

[0031] The displacement change from the initial position of the point to be measured to the position at the interval;

[0032] Determine whether the changes in the earlier and later positions of the test point during the time period exceed the threshold. If so, issue a record instruction.

[0033] Furthermore, the determination of whether the changes in the prior and subsequent positions of the test point during the time period exceed a threshold, and if so, the issuance of a filing instruction includes: if the changes in the prior and subsequent positions of the test point during the time period exceed the threshold, then a multi-level early warning is initiated. The multi-level early warning includes: Level 1 attention, when the deformation or predicted deformation reaches 80% of the threshold; Level 2 early warning, when the deformation reaches 95% of the threshold, the system issues an audible and visual alarm to remind on-site personnel to pay close attention; Level 3 alarm, when the threshold is exceeded, the system issues the highest level alarm and automatically sends a stop signal to the crane control system, forcibly suspending the lifting operation to ensure safety to the greatest extent.

[0034] Furthermore, it also includes: establishing a finite element analysis model of the steel structure as its digital twin; if the changes in the earlier and later positions of the measured point exceed the threshold during the time period, a prompt message is sent to the monitoring screen.

[0035] The at least one technical solution adopted in this application embodiment can achieve the following beneficial effects: by feeding back the time taken for the position of the test point to change sequentially using radar waves, it can be determined whether the test point exceeds a threshold. This achieves the goal of accurately monitoring localized abrupt changes during load testing or hoisting and assembly of bridges and building steel structures, preventing potential hazards later and improving construction safety. Furthermore, it can provide different levels of early warning based on the degree of deformation, greatly improving monitoring accuracy and flexibility. Attached Figure Description

[0036] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0037] Figure 1 This is a schematic diagram of the principle structure provided for the embodiments of this specification.

[0038] Figure 2 This is a schematic diagram of the radar detection module structure provided in the embodiments of this specification.

[0039] Figure 3 This is a schematic diagram of the triangular cone reflection module structure provided in the embodiments of this specification. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0041] The technical solutions provided by the various embodiments of this application are described in detail below with reference to the accompanying drawings.

[0042] This specification provides an embodiment of a radar-based dynamic monitoring device for steel structure deformation. Please refer to [link to documentation]. Figure 1 As shown, it includes a multi-source sensing unit, which includes a radar detection module 1, a triangular cone reflection module 2, a positioning module 3, an angle execution module 4, and a processing module 5.

[0043] The radar detection module 1 is used to transmit and receive radar signals; in one possible implementation, the radar detection module includes a continuous wave radar.

[0044] The triangular cone reflector module 2 is installed at the test point on the steel structure to enhance the reflected radar signal, including active targets with identification codes. In one possible implementation, the triangular cone reflector module 2 includes a radar reflector 21, which is triangular cone in shape. The bottom of the radar reflector has a connection device for connecting to the test point on the steel structure, and a positioning module is disposed within the radar reflector. In yet another possible implementation, please refer to... Figure 3 As shown, the connecting device includes a U-shaped clamp 22 with elastic bends. A through-wire 23 penetrating the base plate is located at the top of the U-shaped clamp, with fastening nuts 24 at both ends. A positioning module 3 is mounted on the triangular pyramid reflector module to determine its position. In one possible implementation, the positioning module includes a GPS device, either embedded within the radar reflector or mounted on the U-shaped clamp. For example, the positioning module employs GPS-RTK or UWB high-precision positioning technology, providing coordinates not only for radar pointing but also for establishing the overall spatial attitude model of the hoisting system (crane, steel structure). The angle execution module, combined with visual-assisted positioning, enables faster and smoother radar beam tracking, supporting a "one-to-many" scanning monitoring mode. Another possibility is magnetic mounting.

[0045] Furthermore, the multi-source sensing unit also includes a high-precision IMU attitude compensation module and a visual recognition module. The high-precision IMU attitude compensation module is used to reduce monitoring errors caused by the deformation of the radar detection module itself, and to filter the inertial displacement of the steel structure when the radar detection module acquires data, retaining only the elastic displacement data of the steel structure. The visual recognition module is used to identify the identity code of the point to be measured, provide visual positioning data, and, if the radar detection module detects an abnormal position of the point to be measured, the visual recognition module determines whether the abnormal position is caused by interference from foreign objects, including fallen leaves and birds.

[0046] For example, the "active target" at the point of measurement (such as the top of a steel structure) has a unique black and white QR code pattern on its surface and contains built-in LEDs powered by the system. The radar measures the target's distance and angle data [R_radar, θ_radar] per second. Simultaneously, the IMU measures the radar base's own pitch and roll angles [α_imu, β_imu] in real time. The fusion algorithm in the processing module performs the following calculations:

[0047] The true displacement is calculated as R_radar - f(α_imu, β_imu) (where f is a geometrically based compensation algorithm). The vision system identifies the QR code on the target, providing independent two-dimensional image coordinates for cross-validation and assisted tracking, playing a crucial role, especially when radar signals are interfered with by heavy rain or other factors. This improves the accuracy of the system's absolute displacement measurement and effectively distinguishes between structural deformation and sensor sway, significantly reducing the false alarm rate.

[0048] Angle execution module 4 is used to adjust the emission angle of the radar detection module based on the position of the triangular cone reflector module fed back by the positioning module; in one possible implementation, please refer to... Figure 2 As shown, the angle execution module 4 includes, but is not limited to, the Huano Starry Sky HAWK-R6 slope stability monitoring radar system. It includes a rotating base 41 and an angle adjustment bracket 42 mounted on the rotating base 41, with the radar detection module mounted on the angle adjustment bracket. The processing module 5 processes the radar signal, determining whether the changes in the initial and subsequent positions of the measured point over a time period exceed a threshold. If so, a filing instruction is issued. In one possible implementation, the filing instruction includes an audible and visual alarm and an emergency braking operation instruction. In one possible implementation, the filing instruction includes: establishing a finite element analysis model of the steel structure as its digital twin; if the changes in the initial and subsequent positions of the measured point over a time period exceed a threshold, a three-level warning is activated. The three-level warning includes: Level 1: Attention – when the deformation or predicted deformation reaches 80% of the threshold, the system sends a prompt message to the monitoring screen. Level 2: When the threshold reaches 95%, the system issues an audible and visual alarm to remind on-site personnel to pay close attention. Level 3: When the threshold is exceeded, the system issues the highest-level alarm and automatically sends a stop signal to the crane control system, forcibly suspending the lifting operation to maximize safety.

[0049] In another possible implementation, the formula for single-point multi-level early warning is as follows:

[0050] v(t)=Δtd(t)−d(t−Δt)

[0051] v(t): rate of displacement change, in mm / s;

[0052] d(t): The real-time displacement of the point to be measured at time t (relative to the initial position d0), in mm;

[0053] Δt: Monitoring time interval (e.g., 1 second), unit: seconds;

[0054] Level 1 Attention (80% threshold): A warning is triggered when |d(t)| ≥ 0.8dthresh × C or |v(t)| ≥ 0.8vthresh × C (vthresh is the rate threshold). Level 2 Warning (95% threshold): An audible and visual alarm is triggered when |d(t)| ≥ 0.95dthresh × C or |v(t)| ≥ 0.95vthresh × C. Level 3 Alarm (Over-threshold): A shutdown command is triggered when |d(t)| > dthresh × C or |v(t)| > vthresh × C; dthresh is the maximum permissible displacement threshold for structural safety (calibrated by design specifications or digital twin model), in mm. Further explanation: C is the confidence level of multi-source data (0~1, the reliability coefficient of data fused through IMU compensation, visual verification, etc., default 0.95).

[0055] The multi-point collaborative early warning formula is as follows. Large steel structures need to monitor multiple related points (such as truss nodes), and the collaborative risks caused by relative deformation need to be considered.

[0056] δij(t)=∣di(t)−dj(t)∣

[0057] di(t): The displacement of the i-th point to be measured;

[0058] δij(t): The relative displacement difference between associated points i and j;

[0059] Collaborative early warning trigger condition: When δij(t) > δthresh,ij × C, a secondary early warning must be triggered even if a single point does not exceed the threshold (due to the potential risk of connection failure). δthresh,ij refers to the allowable relative displacement threshold (determined by the structural connection stiffness).

[0060] Further optimization, to provide early warning of potential risks, uses Kalman filtering or LSTM neural networks to predict displacement trends in the near future, as shown in the following formula:

[0061] Kalman filtering fuses radar measurements z(t) and system state predictions x^(t∣t−1) to output the optimal estimate x^(t) and predicts the displacement x^(t+n∣t) in the next n steps. State equation:

[0062] x^(t∣t−1)=F⋅x^(t−1)+Bu(t)

[0063] Observation equation:

[0064] z(t) = H⋅x^(t∣t−1) + v(t)

[0065] in:

[0066] x(t)=[d(t),v(t),a(t)] ^T: State vector (displacement, velocity, acceleration);

[0067] F: State transition matrix;

[0068] B: Control input matrix;

[0069] H: Observation matrix;

[0070] v(t), u(t): process noise and observation noise (covariance matrices Q and R need to be calibrated).

[0071] Prediction and early warning logic: If the predicted displacement d^(t+ΔT)>dthresh×C within the future time interval ΔT, a level 3 alarm is triggered in advance (e.g., ΔT=5s, used for emergency braking in hoisting scenarios).

[0072] For nonlinear deformation scenarios (such as cumulative material fatigue deformation), LSTM can learn temporal features. It takes a historical displacement sequence [d(t−N),...,d(t−1)] as input and outputs predicted values ​​for the next M steps: d^(t+1),...,d^(t+M). Loss function (mean squared error):

[0073] Loss=M1k=1∑M(d^(t+k)−d(t+k))2

[0074] Early warning optimization: When any point in the prediction sequence exceeds dthresh×C, the early warning level is related to the time point of the predicted exceedance (e.g., exceeding the limit 10 seconds in advance triggers level two, exceeding the limit 3 seconds in advance triggers level three), which greatly improves construction safety.

[0075] In operation, multiple triangular pyramid reflectors are positioned at appropriate locations within the measured space, including the location of the point to be measured. The radar transmitting base emits continuous radar waves, which, under the action of the rotating base, rotate and scan within the measurement space to form a measurement network. The displacement change from the initial location of the point to the location at an interval is measured. It is determined whether the change in the earlier and later locations of the point to be measured exceeds a threshold within the time period. If so, a record command is issued. During operation, based on the location information fed back by GPS, the angle of the rotating platform is adjusted by a stepper motor, thereby adjusting the transmission angle of the continuous wave radar. Preferably, a finite element analysis model of the steel structure is established as its digital twin. If the change in the earlier and later locations of the point to be measured exceeds the threshold within the time period, a prompt message is sent to the monitoring screen.

[0076] Furthermore, the triangular cone reflector module also includes an acceleration sensor 6 for real-time detection of acceleration during the hoisting process of the steel structure. For example:

[0077] Step 1: Data Acquisition. Accelerometers are used to acquire acceleration data along the x, y, and z axes: ax, ay, and az, respectively. This data is compared and verified with displacement data obtained from radar monitoring. If the direction and data change in the same direction, monitoring continues.

[0078] Step 2: Filter the collected data, such as by using the Kalman filter algorithm, to fuse the data from the accelerometer, reduce noise interference, and improve data accuracy.

[0079] Step 3: Feature Extraction. Calculate the resultant acceleration. .

[0080] Step 4: Algorithm Determination. Set acceleration threshold. When the resultant acceleration a is greater than Initial assessment suggests that hoisting stall or instability may occur; further analysis of the rate of change of acceleration is performed, calculating the difference in acceleration between adjacent moments. ,like Exceeding the set rate of change threshold This increases the confidence value for judging hoisting stall and instability, further improving the accuracy of monitoring.

[0081] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0082] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A device for monitoring dynamic deformation of a steel structure during hoisting or assembly, characterized in that, The application relates to a steel structure real-time monitoring system. The system comprises: a radar detection module for transmitting and receiving radar signals; a plurality of triangular pyramid reflection modules fixedly arranged on key points to be detected of a steel structure for enhancing reflected radar signals; a positioning module built in each triangular pyramid reflection module for acquiring and outputting absolute position coordinates of the reflection module in real time; an angle execution module in communication connection with the positioning module and the radar detection module for adjusting the angle of a rotating platform through a stepping motor according to the position coordinates of the plurality of reflection modules fed back by the positioning module in real time according to position coordinate information; a processing module for processing signals returned by the radar detection module, calculating the displacement of a same point to be detected in a continuous time interval by comparing the position change of the same point to be detected in the continuous time interval, and judging whether the displacement exceeds a preset safety threshold, and if so, issuing a warning instruction for the point to be detected; 2. The dynamic deformation monitoring device of claim 1, wherein, an acceleration sensor arranged in the triangular pyramid reflection module for acquiring acceleration data of the steel structure in real time; and the processing module is further used for fusion analysis of data of the acceleration sensor and displacement data of the radar detection module to distinguish elastic deformation and overall rigid displacement of the steel structure in a motion process.

3. The dynamic deformation monitoring apparatus of claim 1, wherein The angle execution module comprises a rotating base and an angle adjusting support arranged on the rotating base, and the radar detection module is arranged on the angle adjusting support.

4. The dynamic deformation monitoring apparatus of claim 1, wherein The radar detection module comprises a phased array continuous wave radar.

5. The dynamic deformation monitoring apparatus of claim 4, wherein, The triangular pyramid reflection module comprises a radar reflector in a triangular pyramid shape, a connecting device arranged at the bottom of the radar reflector for connecting the point to be detected of the steel structure, and a positioning module built in a shell of the radar reflector.

6. The dynamic deformation monitoring apparatus of claim 1, wherein The connecting device comprises a U-shaped clamping plate, the bending part of the U-shaped clamping plate is elastic, a through wire is arranged at the top of the U-shaped clamping plate and penetrates through the bottom plate, and fastening nuts are arranged at two ends of the through wire.

7. The dynamic deformation monitoring apparatus of claim 1, wherein The positioning module is a GPS positioning unit.

8. A method of using a dynamic deformation monitoring device according to any one of claims 1 to 7, characterized in that, The warning instruction comprises triggering an audible and light alarm device and / or sending an emergency braking signal to a control system of hoisting equipment. The application further discloses a steel structure real-time monitoring method. The method comprises the following steps: arranging a plurality of triangular pyramid reflection modules at key positions of a steel structure; starting the radar detection module and the angle execution module, so that a radar beam is dynamically scanned in a monitoring space based on the position of the plurality of reflection modules fed back by the positioning module under the driving of the angle execution module, and a tracking network covering all points to be detected is formed; acquiring position data of each point to be detected in succession through the processing module, and calculating the displacement change of each point to be detected in a continuous time interval; judging whether the displacement of any point to be detected exceeds the safety threshold; if so, generating a warning instruction.

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