Traffic vibration monitoring method, system and equipment

Abstract

The embodiment of the invention provides a traffic vibration monitoring method, system and equipment. The method comprises the following steps: acquiring a current attitude through an electronic compass system; wherein the current posture comprises a trend, an inclination angle and an inclination direction; acquiring three-axis direction acceleration corresponding to the current attitude through a three-axis acceleration sensing system; determining a target rotation matrix through an operation processing unit based on the trend and the inclination angle; based on the acceleration in the three-axis direction and the target rotation matrix, operation is carried out through an operation processing unit, and target acceleration is determined; determining a time reference based on a global navigation satellite system; based on a time reference, target acceleration is transmitted and stored through a data transmission and storage system, and railway traffic vibration monitoring is achieved. By adopting the scheme, the railway traffic vibration monitoring efficiency can be greatly improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of data monitoring, in particular to a traffic vibration monitoring method, system and device. BACKGROUND

[0002] In order to solve the engineering problems caused by loess vibration, it is necessary to monitor and warn the loess vibration. At present, the monitoring equipment mainly uses acceleration sensors, such as using traditional collection equipment. During installation, the three-axis acceleration sensor needs to be placed horizontally to ensure that the standard three-axis acceleration components are obtained, so a high time cost will be consumed during installation, which greatly reduces the collection efficiency.

[0003] When collecting data in some places far away from the collection equipment, the required data transmission cable may be too long or cannot be laid, and a large amount of time cost will also be consumed during the laying process. The existing multi-point vibration collection generally uses an asynchronous collection method to reduce the time error of data collection. However, high-frequency collection will reduce the data precision, resulting in a very large error in the analysis result. In addition, each acceleration sensor needs to be positioned manually, which requires a large amount of manpower and material resources. Once a large amount of data is collected back, a large amount of time needs to be spent for processing, which will greatly reduce the efficiency of vibration monitoring. SUMMARY

[0004] The embodiments of the present application expect to provide a traffic vibration monitoring method, system and device, which can improve the efficiency of railway traffic vibration monitoring.

[0005] The technical solution of the present application is realized as follows: In a first aspect, the embodiments of the present application provide a traffic vibration monitoring method applied to a traffic vibration monitoring system, wherein the traffic vibration monitoring system comprises an electronic compass system, a three-axis acceleration sensing system, an operation processing system, a global navigation satellite system, a device power supply and voltage stabilizing system, and a data transmission and storage system. The method comprises the following steps: obtaining a current posture through the electronic compass system; wherein the current posture comprises a strike, an inclination and a dip; obtaining a three-axis direction acceleration corresponding to the current posture through the three-axis acceleration sensing system; determining a target rotation matrix through the operation processing system based on the strike and the inclination; determining a target acceleration based on the three-axis direction acceleration and the target rotation matrix by the operation processing system; wherein, the target acceleration comprises: a first target acceleration, a second target acceleration and a third target acceleration; the first target acceleration represents an acceleration component in the north direction; the second target acceleration represents an acceleration component in the east direction; the third target acceleration represents an acceleration component in the vertical direction of the sea level; determining a time reference based on the global navigation satellite system; transmitting and storing the target acceleration by the data transmission and storage system based on the time reference, to realize the railway traffic vibration monitoring.

[0006] In the above scheme, the target rotation matrix is determined based on the strike and the dip by the operation processing system, comprising: a first rotation matrix is determined based on the strike by the operation processing system through matrix operation; wherein, the first rotation matrix represents a rotation matrix around the Z axis; a second rotation matrix is determined based on the dip by the operation processing system through matrix operation; wherein, the second rotation matrix represents a rotation matrix around the Y axis; the target rotation matrix is determined based on the first rotation matrix and the second rotation matrix by the operation processing system.

[0007] In the above scheme, the three-axis direction acceleration comprises: a first direction acceleration, a second direction acceleration and a third direction acceleration; the first direction acceleration represents an acceleration component in the X direction; the second direction acceleration represents an acceleration component in the Y direction; the third direction acceleration represents an acceleration component in the Z direction; the target acceleration is determined based on the three-axis direction acceleration and the target rotation matrix by the operation processing system, comprising: the first target acceleration is determined based on the first direction acceleration and the target rotation matrix by the operation processing system through operation; the second target acceleration is determined based on the second direction acceleration and the target rotation matrix by the operation processing system through operation; the third target acceleration is determined based on the third direction acceleration and the target rotation matrix by the operation processing system through operation; the target acceleration is determined based on the first target acceleration, the second target acceleration and the third target acceleration.

[0008] In the above scheme, the traffic vibration monitoring system further comprises: a host computer; the three-axis acceleration sensing system comprises: a sensor in the vibration monitoring system; determining a time reference based on the global navigation satellite system, comprises: in the case that the target acceleration of any one of the sensors in the vibration monitoring system is greater than a preset acceleration threshold, uploading the target acceleration greater than the preset acceleration threshold to the host computer; issuing a back transmission instruction to the sensors in the vibration monitoring system through the host computer; determining the time reference through the global navigation satellite system based on the next second pulse synchronization signal of the sensors in the vibration monitoring system; wherein the second pulse synchronization signal is emitted by the global navigation satellite system and is used to identify the start of the whole second moment.

[0009] In the above scheme, the transmission and storage of the target acceleration through the data transmission and storage system based on the time reference realizes railway traffic vibration monitoring, comprising: based on the time reference, uploading the target acceleration of the sensors in the vibration monitoring system to the host computer at the same time; storing the target acceleration of the sensors in the vibration monitoring system through the data transmission and storage system respectively, to realize railway traffic vibration monitoring.

[0010] In the above scheme, the method further comprises: when the internal buffer area of the data transmission and storage system reaches the upper limit of storage, the newly written data automatically covers the earliest stored invalid data; wherein the internal buffer area is a fixed capacity data storage structure, and the physical storage space is connected at both ends to form a closed loop; the data in the internal buffer area follows the first-in first-out principle, and the data in the internal buffer area is dynamically managed through two pointers; the two pointers include a write pointer and a read pointer; the write pointer marks the current data writing position; the read pointer marks the starting position of the data to be read.

[0011] In the above scheme, before the current attitude is acquired through the electronic compass system, the method further comprises: determining the target soil quality of the traffic vibration to be monitored; wherein the target soil quality represents the soil property of the soil; based on the target soil quality and the standard threaded interface, determining the installation rod corresponding to the target soil quality; based on the installation rod, debugging the traffic vibration monitoring system.

[0012] Secondly, embodiments of this application provide a traffic vibration monitoring system, which includes: an electronic compass system, a three-axis accelerometer sensor system, a computing and processing unit, a global navigation satellite system, a power supply and voltage stabilization system, a host computer, and a data transmission and storage system; The electronic compass system is used to acquire the current attitude; wherein the current attitude includes: heading, tilt angle, and dip. The three-axis acceleration sensing system is used to acquire the three-axis acceleration corresponding to the current attitude; The computational processing system is used to determine the target rotation matrix based on the orientation and the tilt angle; and to perform calculations based on the three-axis accelerations and the target rotation matrix to determine the target acceleration; wherein the target acceleration includes: a first target acceleration, a second target acceleration, and a third target acceleration; the first target acceleration represents the acceleration component in the due north direction; the second target acceleration represents the acceleration component in the due east direction; and the third target acceleration represents the acceleration component perpendicular to the sea level. The data transmission and storage system is used to upload the target acceleration exceeding the preset acceleration threshold to the host when any of the target accelerations of the sensors in the vibration monitoring system exceeds the preset acceleration threshold. The host computer is used to send feedback commands to the sensors in the vibration monitoring system. The global navigation satellite system is used to determine the time reference based on the next-second pulse synchronization signal from the at least two sensors; The data transmission and storage system is also used to transmit and store the target acceleration based on the time reference, thereby realizing traffic vibration monitoring.

[0013] Thirdly, embodiments of this application provide a traffic vibration monitoring device, which includes: a processor and a memory; wherein, The memory is used to store computer programs; The processor is configured to call and run the computer program from the memory to perform the method as described in the first aspect.

[0014] This application provides a traffic vibration monitoring method, system, and device. The traffic vibration monitoring method includes: acquiring the current attitude through the electronic compass system; wherein the current attitude includes: heading, tilt angle, and dip; acquiring the three-axis directional acceleration corresponding to the current attitude through the three-axis acceleration sensing system; determining a target rotation matrix based on the heading and tilt angle through the processing unit; determining a target acceleration based on the three-axis directional acceleration and the target rotation matrix through the processing unit; wherein the target acceleration includes: a first target acceleration, a second target acceleration, and a third target acceleration; the first target acceleration represents the acceleration component in the due north direction; the second target acceleration represents the acceleration component in the due east direction; the third target acceleration represents the acceleration component perpendicular to the sea level; determining a time reference based on the global navigation satellite system; and transmitting and storing the target acceleration based on the time reference through the data transmission and storage system to realize railway traffic vibration monitoring. The above solution uses cheaper components, is easy to install and disassemble, is simple to use, saves time and effort, and is more accurate. It meets environmental protection requirements while minimizing monitoring errors, and can significantly improve the efficiency of railway traffic vibration monitoring. Attached Figure Description

[0015] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the specification, serve to explain the technical solutions of this application. Obviously, the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0016] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0017] Figure 1 This is a schematic flowchart of an optional traffic vibration monitoring method provided in an embodiment of this application; Figure 2 This is a schematic diagram of an optional ring storage method for traffic vibration monitoring provided in an embodiment of this application; Figure 3 This is a schematic diagram of an optional framework for a traffic vibration monitoring system provided in an embodiment of this application; Figure 4 This is a schematic diagram of an optional frame for a traffic vibration monitoring device provided in an embodiment of this application; Figure 5 This application provides a schematic diagram of a traffic vibration monitoring device. Figure 6 This application provides a schematic diagram of the structure of a traffic vibration monitoring system according to an embodiment of the present application; Figure 7 This is a schematic diagram of the structure of a traffic vibration monitoring device provided in an embodiment of this application. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] In the following description, references to "some embodiments," "this embodiment," "this application embodiment," and examples, etc., describe a subset of all possible embodiments. However, it is understood that "some embodiments" may be the same subset or different subset of all possible embodiments and may be combined with each other without conflict.

[0021] If the application documents contain similar descriptions such as "first / second", the following explanation shall be added: In the following description, the terms "first / second / third" are used only to distinguish similar objects and do not represent a specific order of objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of this application described herein can be implemented in an order other than that illustrated or described herein.

[0022] To address engineering problems caused by loess vibration, monitoring and early warning of loess vibration are necessary. Currently, monitoring equipment mainly uses accelerometers. With traditional acquisition equipment, the triaxial accelerometers need to be leveled during installation to ensure the acquisition of standard triaxial acceleration components, resulting in significant time costs and greatly reducing acquisition efficiency. When collecting data at locations far from the acquisition equipment, excessively long or unlayable data transmission cables may be encountered, also consuming considerable time during deployment. Existing multi-point vibration acquisition generally uses asynchronous acquisition methods to reduce data acquisition time errors. However, high-frequency acquisition reduces data accuracy, leading to significant errors in analysis results. Furthermore, each accelerometer requires manual positioning, consuming substantial manpower and resources. Once a large amount of data is collected, processing takes considerable time, further reducing vibration monitoring efficiency. Simultaneously, during data transmission, data throughput increases with load under light load, but when the load reaches its limit, network congestion occurs, resulting in severe data loss, continuously decreasing transmission rates, and potentially causing the entire network to collapse.

[0023] The current problems in loess vibration monitoring mainly include the following aspects: ① Existing accelerometers have long wiring and high costs. ② Current vibration data acquisition is usually high-frequency and synchronously transmitted, resulting in significant data loss and large errors in analysis results. ③ Regarding Global Navigation Satellite System (GNSS) time calibration, GNSS signals are subject to interference and influence from various factors during propagation, leading to signal time errors. Therefore, time calibration is necessary to ensure the accuracy and reliability of data acquisition.

[0024] Based on this, embodiments of this application provide a traffic vibration monitoring method. Figure 1 This application provides an optional flowchart of a traffic vibration monitoring method, which will be combined with... Figure 1 The steps shown are explained.

[0025] S101. Obtain the current attitude through the electronic compass system; wherein, the current attitude includes: heading, tilt angle and dip.

[0026] In some embodiments of this application, the traffic vibration monitoring method is applicable to scenarios where geological disasters such as roadbed landslides caused by traffic vibrations are to be warned.

[0027] In some embodiments of this application, the traffic vibration monitoring method is implemented by a traffic vibration monitoring device.

[0028] In some embodiments of this application, an interface 2 (standard threaded port) is configured at the bottom of the traffic vibration monitoring device to change the original fixing method and adjust the material of the fixing rod in real time according to the test environment.

[0029] In some embodiments of this application, the traffic vibration monitoring device can obtain the current attitude through an electronic compass system; wherein, the current attitude includes: direction, tilt angle and tendency.

[0030] In some embodiments of this application, the traffic vibration monitoring method is applied to a traffic vibration monitoring system, which includes an electronic compass system for automatically measuring the attitude of the equipment after installation, without requiring orientation adjustment during the equipment installation process.

[0031] For example, the ground has a strike of α (degrees), a dip of β (degrees), and an inclination of γ (degrees).

[0032] S102. Obtain the three-axis acceleration corresponding to the current attitude through the three-axis acceleration sensing system.

[0033] In some embodiments of this application, the three-axis acceleration includes: a first-direction acceleration, a second-direction acceleration, and a third-direction acceleration; the first-direction acceleration represents the acceleration component in the X direction; the second-direction acceleration represents the acceleration component in the Y direction; and the third-direction acceleration represents the acceleration component in the Z direction.

[0034] For example, the three-axis acceleration corresponding to the current attitude is obtained through a three-axis accelerometer system, and the acceleration components corresponding to the three-axis acceleration are [α]. x ,α y ,α z ].

[0035] S103. Based on the orientation and tilt angle, the target rotation matrix is ​​determined through a computational processing system.

[0036] In some embodiments of this application, a first rotation matrix is ​​determined by performing matrix operations through a computational processing system based on the orientation; wherein the first rotation matrix represents the rotation matrix around the Z-axis; a second rotation matrix is ​​determined by performing matrix operations through a computational processing system based on the tilt angle; wherein the second alignment matrix represents the rotation matrix around the Y-axis; and a target rotation matrix is ​​determined by performing operations through a computational processing system based on the first and second rotation matrices.

[0037] For example, based on the orientation and tilt angle, two rotation matrices can be defined: 1. Rotation matrix around the Z-axis (corrected according to the direction α): R Z (α)= (1) 2. Rotation matrix about the Y-axis (rotation based on tilt angle γ): R Y (γ)= (2) The target rotation matrix R can be expressed as: R=R Z (α)·R Y (γ)(3) S104. Based on the three-axis acceleration and the target rotation matrix, the target acceleration is determined by calculation through the calculation processing system; wherein, the target acceleration includes: a first target acceleration, a second target acceleration and a third target acceleration; the first target acceleration represents the acceleration component in the due north direction; the second target acceleration represents the acceleration component in the due east direction; and the third target acceleration represents the acceleration component perpendicular to the sea level.

[0038] In some embodiments of this application, the three-axis acceleration includes: a first-direction acceleration, a second-direction acceleration, and a third-direction acceleration; the first-direction acceleration represents the acceleration component in the X direction; the second-direction acceleration represents the acceleration component in the Y direction; and the third-direction acceleration represents the acceleration component in the Z direction.

[0039] In some embodiments of this application, a first target acceleration is determined by performing calculations using a computational processing system based on a first directional acceleration and a target rotation matrix; a second target acceleration is determined by performing calculations using a computational processing system based on a second directional acceleration and a target rotation matrix; a third target acceleration is determined by performing calculations using a computational processing system based on a third directional acceleration and a target rotation matrix; and a target acceleration is determined based on the first target acceleration, the second target acceleration, and the third target acceleration.

[0040] The triaxial acceleration (α) measured by the sensor x ,α y ,α z By transforming the target rotation matrix R, the accelerations in the due north, due east, and vertical directions are obtained: (4) The acceleration components in the geodetic coordinate system are: α N =cos(γ)cos(α)α x −sin(γ)sin(α)α y −sin(γ)cos(α)α z (5) α E =cos(γ)sin(α)α x +cos(γ)cos(α)α y−sin(γ)sin(α)α z (6) α D =sin(γ)α x +cos(γ)α z +sin(γ)α y (7) In this formula: α N It is the acceleration component in the due north direction; α E It is the acceleration component in the due east direction; α D It is the acceleration component perpendicular to the sea level.

[0041] S105. Determine the time reference based on the Global Navigation Satellite System.

[0042] In some embodiments of this application, the traffic vibration monitoring system further includes: a host computer; the triaxial acceleration sensing system includes: sensors in the vibration monitoring system; wherein, the sensors in the vibration monitoring system include multiple sensors.

[0043] In some embodiments of this application, the precise coordinates of each sensor within the detection system are determined based on the Global Navigation Satellite System; a time reference is determined based on the Global Navigation Satellite System; and high-precision target positioning and sensor location network construction are performed through data processing based on the sensor coordinates.

[0044] In some embodiments of this application, if at least one of the target accelerations corresponding to at least two sensors is greater than a preset acceleration threshold, the target acceleration greater than the preset acceleration threshold is uploaded to the host; the host sends a feedback command to at least two sensors; and a time reference is determined by the Global Navigation Satellite System based on the next second pulse synchronization signal of at least two sensors; wherein, the second pulse synchronization signal is a signal transmitted by the Global Navigation Satellite System to mark the start of an integer second.

[0045] For example, when any triaxial accelerometer in the system detects that its collected acceleration value exceeds a preset threshold, the sensor immediately uploads the data to the host. Upon receiving the anomaly signal, the host sends a feedback command to all sensors in the system, instructing them to prepare to upload data. At this time, all sensors do not upload immediately but wait for the next second pulse. After the second pulse synchronization signal provided by the GNSS module arrives, all sensors in the system upload their collected data to the host at the same time. This mechanism ensures a high degree of consistency of multi-sensor data in the time dimension, avoiding data misalignment problems caused by sensor clock drift or network latency in traditional asynchronous acquisition methods.

[0046] For example, when any sensor in the system acquires and records data, it embeds the timestamp corresponding to the second pulse signal into each set of acquired data. This timestamp not only records the absolute time of data acquisition but also provides a precise time reference for subsequent data processing, transmission, and analysis. In data transmission and storage systems, timestamps are used for packet sorting and verification, ensuring that even in asynchronous transmission mode, the host can still perform accurate time alignment and fusion processing of data from different sensors based on the timestamps.

[0047] It should be noted that the GNSS module provides precise location information with an accuracy unit of centimeters. The "Pulse Per Second" (PPS) involved in this patent is a high-precision time synchronization signal provided by Global Navigation Satellite Systems (GNSS) such as GPS and BeiDou. It is typically output once per second to mark the beginning of an integer second. Its time accuracy can usually reach the nanosecond level, exhibiting extremely high stability and reliability. This signal is used as a unified time reference source in traffic vibration monitoring systems to ensure that all sensors in the system maintain a high degree of consistency in the time dimension. The preset threshold is the preset acceleration threshold.

[0048] S106. Based on a time reference, target acceleration is transmitted and stored through a data transmission and storage system to achieve railway traffic vibration monitoring.

[0049] In some embodiments of this application, based on a time reference, the target accelerations corresponding to each sensor in the vibration monitoring system are simultaneously uploaded to the host; through a data transmission and storage system, the target accelerations corresponding to at least two sensors are stored separately to realize traffic vibration monitoring.

[0050] Understandably, traffic vibration monitoring equipment uses cheaper components, is easy to install and disassemble, is simple to use, saves time and effort, and is more accurate. While meeting environmental protection requirements, it can minimize monitoring errors and greatly improve the efficiency of traffic vibration monitoring.

[0051] In some embodiments of this application, based on the target rotation matrix and the sensor coordinates determined by the global navigation system, a computational processing system is used to determine the relative positions and attitudes of the sensors within the system. Based on the relative positions and attitudes of the sensors in the vibration monitoring system and the time reference, the vibration characteristics of the strata between the sensors are determined.

[0052] In some embodiments of this application, ground vibration characteristics are determined by a computational processing system based on triaxial acceleration and the target rotation matrix. These characteristics include: ground attenuation coefficient, ground resonance frequency, cutoff frequency, dispersion characteristics, ground modulus, and ground damping characteristics. The ground attenuation coefficient characterizes the ground's ability to absorb vibration energy; the ground resonance frequency characterizes the phenomenon where the ground's response to vibration excitation reaches its maximum value at a specific frequency; the cutoff frequency characterizes the frequency at which the ground's attenuation of high-frequency vibration signals begins to significantly increase; the dispersion characteristics characterize the variation of the propagation speed of vibration waves with frequency as they propagate through the ground; the ground modulus characterizes the dynamic parameters of the ground's resistance to shear deformation; and the ground damping characteristics characterize the ground's ability to absorb energy during vibration.

[0053] In some embodiments of this application, the ground vibration characteristics include: ground resonance frequency, cutoff frequency, dispersion characteristics, ground modulus, and ground damping characteristics. The ground resonance frequency characterizes the phenomenon where the ground response to vibration excitation reaches its maximum value at a specific frequency; the cutoff frequency characterizes the frequency at which the ground's attenuation of high-frequency vibration signals begins to significantly increase; the dispersion characteristics characterize the variation of the propagation speed of vibration waves with frequency as they propagate through the ground; the ground modulus characterizes the dynamic parameters of the ground's resistance to shear deformation; and the ground damping characteristics characterize the ground's ability to absorb energy during vibration.

[0054] In some embodiments of this application, based on the time reference provided by the Global Navigation Satellite System (GNSS), a computational processing system is used to determine the time difference between vibration events recorded by each sensor within the system; based on the high-precision network positioning provided by the GNSS, a computational processing system is used to determine the relative linear positions of each sensor within the system; based on the time difference between vibration events recorded by each sensor within the system and the relative linear positions of each sensor within the system, a computational processing system is used to determine the propagation speed of the vibration wave in the strata; based on the target acceleration recorded by each sensor within the system, a computational processing system is used to determine the attenuation coefficient of the strata between adjacent sensors; based on the target acceleration recorded by each sensor within the system, a computational processing system is used to determine the resonant frequency of the strata between adjacent sensors; based on the target acceleration recorded by each sensor within the system, a computational processing system is used to determine the cutoff frequency of the strata between adjacent sensors; based on the target acceleration recorded by each sensor within the system, a computational processing system is used to determine the shear modulus of the strata between adjacent sensors; and based on the target acceleration recorded by each sensor within the system, a computational processing system is used to determine the damping ratio of the strata between adjacent sensors.

[0055] For example, the sensor achieves centimeter-level positioning accuracy through a global navigation system. Assume the latitude and longitude of any two sensors are as follows: Sensor 1: Latitude 1. Longitude 1. Altitude h 1. Any sensor 2: Latitude 2. Longitude 2. Altitude h 2.

[0056] Convert latitude and longitude coordinates to Cartesian coordinates under a geocentric coordinate system: (8) (9) (10) In this formula: R is the Earth's radius (unit: m). Calculate the three-dimensional coordinates (x1, y1, z1) and (x2, y2, z2) of the two sensors respectively, and then use Euclidean geometric distance: (11) In this formula: D is the three-dimensional straight-line distance between the two sensors (unit: m). The sensor synchronizes the time of all sensors within the system by receiving the second pulse signal transmitted by the global navigation system, assuming... t At any given moment, sensor 1 receives a vibration signal. t At time 2, any sensor 2 receives the same vibration signal.

[0057] The time difference between the two sensors receiving the same vibration signal is then calculated as follows: (12) The propagation velocity v of the seismic wave in the stratum can be calculated based on the time difference between the two sensors receiving the same vibration signal and the three-dimensional linear distance between the two sensors. (13) When a sensor detects an abnormal signal, it retains and uploads complete data from a period of time before and after the anomaly occurs, and extracts the peak acceleration signal recorded by any two sensors within the system. and Then, an exponential decay model of the strata between the two sensors can be constructed: (14) in, The attenuation coefficient of the formation reflects its ability to absorb seismic energy. This parameter can be estimated and used to evaluate the dynamic response characteristics of the formation by fitting data from multiple seismic events and combinations of data from multiple sensors.

[0058] In addition, complete acceleration data recorded by any two sensors within the system is extracted, and the acceleration signals are processed by the computing system to perform a Fourier transform, converting them to the frequency domain. (15) Then, the frequency response function (FRF) between the two sensors is calculated: (16) in and The frequencies of the two sensors are respectively The acceleration amplitude at that point, through analysis The magnitude and phase changes can be used to identify key frequency bands such as the resonant frequency and cutoff frequency of the strata.

[0059] Resonance frequency This refers to the frequency point where the acceleration response reaches its maximum value in the frequency domain, typically corresponding to the natural frequency of the geological structure. (17) Cutoff frequency The frequency at which the acceleration response drops to a certain threshold in the frequency domain: (18) By analyzing the change in phase difference between any two sensor signals as a function of frequency, the dispersion characteristics of the formation can be extracted, i.e., the phenomenon of seismic wave propagation velocity changing with frequency. (19) In this formula: For the two sensors at the frequency The phase difference.

[0060] Assuming the formation is linearly viscoelastic, its vibration response can be described by the following equation of motion: (20) In the frequency domain, the system's response function is: (twenty one) Simultaneously, using modal analysis, after acquiring independent vibration event signals, the system assumes the existence of a single dominant frequency and damping ratio. The frequency response function can then be expressed as: (twenty two) The frequency response function was subsequently measured experimentally. By fitting the model to the theoretical model, the natural frequency and damping ratio can be obtained through inversion.

[0061] Using the speed of vibration propagation v and preset formation density p The shear modulus G can be estimated: (twenty three) This model assumes that the formation is a homogeneous medium and is suitable for preliminary assessment of the formation's dynamic characteristics.

[0062] In some embodiments of this application, the traffic vibration monitoring method further includes: When the internal buffer of the data transmission and storage system reaches its storage limit, newly written data automatically overwrites the oldest invalid data. The internal buffer is a fixed-capacity data storage structure, and the physical storage space is connected end to end to form a closed loop. The data in the internal buffer follows the first-in, first-out principle and is dynamically managed by two pointers: a write pointer and a read pointer. The write pointer marks the current data writing position, and the read pointer marks the starting position of the data to be read.

[0063] In some embodiments of this application, a data storage structure based on a fixed-size buffer is provided, with its physical storage space forming a closed loop. Data writing follows a first-in, first-out (FIFO) principle; when the buffer reaches its storage limit, newly written data automatically overwrites the oldest invalid data. Two pointers are used for dynamic management: a write pointer marks the current data writing position, and a read pointer marks the starting position of the data to be read.

[0064] In some embodiments of this application, before acquiring the current attitude via an electronic compass system, the traffic vibration monitoring method further includes: Identify the target soil type for monitoring traffic vibrations; whereby the target soil type characterizes the soil properties. Based on the target soil type and standard threaded interface, determine the installation rod corresponding to the target soil type; The traffic vibration monitoring system is debugged based on the mounting pole.

[0065] Understandably, the standard threaded interface allows for the selection of different mounting rods based on varying soil conditions to achieve optimal fixing results.

[0066] In some embodiments of this application, the device integrates an electronic compass system. Combined with the device's internal triaxial accelerometer, the triaxial accelerometer can be calibrated according to different sensor orientations, eliminating the tedious leveling process during installation. Simultaneously, it ensures that the output data is triaxial direction data in a geodetic coordinate system, facilitating data analysis. It is also equipped with a standard threaded interface, allowing selection of different mounting rods for different soil conditions to achieve optimal fixation. This invention also features wireless transmission, minimizing the time and economic costs associated with wiring, maximizing the efficiency and economy of vibration monitoring. It is easy to install, requires no wiring, adapts to various working conditions, is low-cost, and facilitates large-scale deployment.

[0067] In some embodiments of this application, data storage is performed in a circular manner. During row data acquisition, an acceleration threshold is designed to automatically overwrite data without abnormalities. If the acceleration exceeds the set threshold, the system packages and transmits the data from the current moment and a previous period to the cloud via a preset program. If the acceleration drops below a certain threshold within a certain period, data transmission stops. This significantly reduces the possibility of misjudgment and missed detection of vibration signals by the device and also significantly improves the utilization efficiency of storage space. Simultaneously, this invention innovatively proposes a synchronous triggering and asynchronous data transmission method. It utilizes the second pulse signal output by the GNSS module to autonomously correct the acquisition time of different acquisition modules and stores the timestamp in the device's memory, achieving synchronous acquisition by multiple sensors. Monitoring data is transmitted back according to sensor number, solving the problems of delay, congestion, and frame loss in dynamic data acquisition.

[0068] Each data point corresponds to a sensor. Through methods such as... Figure 2 Circular storage is used for data storage. Data is written through a write pointer. When the write position is full, the latest data will automatically overwrite the oldest data. Data is read through a read pointer. Data is read and the read pointer is updated at the read position.

[0069] In some embodiments of this application, the sensor position can be accurately located using an integrated GNSS system with an error of 0-1 cm, which can greatly reduce the cost of data acquisition and deployment, and provide a positioning prerequisite for the large-scale deployment of the acquisition sensor.

[0070] The beneficial effects of this application are: the test device used in this application uses cheaper components, is easy to install and disassemble, is simple to use, saves time and effort, and has higher accuracy. While meeting environmental protection requirements, it can minimize monitoring errors as much as possible, and can greatly improve the efficiency and accuracy of tasks such as vibration monitoring.

[0071] In another embodiment of this application: the sensor in the traffic vibration monitoring system is an integrated accelerometer, which addresses the problem of data loss caused by signal congestion during wireless transmission. This application configures a wireless transmission module, and data is first stored in the device's memory. The device employs a data storage structure based on a fixed-size buffer, with its physical storage space connected end-to-end to form a closed loop. Data writing follows a first-in, first-out (FIFO) principle; when the buffer reaches its storage limit, newly written data automatically overwrites the oldest invalid data. Two pointers are used for dynamic management: a write pointer marks the current data writing position, and a read pointer marks the starting position of the data to be read. The circular storage achieves infinite continuous writing through constant space, eliminating the need for periodic data cleaning or expansion operations required by traditional storage. Because traffic vibration signals are sudden and intermittent, the data collected by the system most of the time is background noise; critical data only needs to be retained when specific events (such as vehicles passing by, abnormal roadbed vibrations, etc.) occur. The circular storage mechanism allows the system to continuously overwrite old data under normal conditions, only retaining and uploading data for a period before and after the anomaly is detected, thus avoiding the storage and transmission of meaningless data. For long-term unattended traffic vibration monitoring scenarios (such as roadbed landslide early warning), this design significantly reduces the maintenance requirements of storage media, supporting continuous system operation in extreme environments. Simultaneously, this architecture supports asynchronous data processing. In cases of unstable wireless communication or significant network latency, the ring buffer can temporarily store data, ensuring complete data upload after communication is restored, thereby improving the system's fault tolerance and data integrity. Furthermore, the system supports synchronization and coordination among multiple sensors. In this system, data from multiple sensors are written to their respective ring buffers and timestamped using a time base provided by GNSS, ensuring temporal consistency between data from different sensors and facilitating subsequent data fusion and analysis.

[0072] The system employs a synchronous data acquisition and asynchronous data transmission mechanism. When any triaxial accelerometer detects that its acquired acceleration value exceeds a preset threshold, it immediately uploads the data to the host computer. Upon receiving the anomaly signal, the host computer sends a data transmission command to all sensors in the system, instructing them to prepare to upload data. At this point, all sensors do not upload immediately but wait for the next second pulse. After the second pulse synchronization signal provided by the GNSS module arrives, all sensors in the system upload their acquired data to the host computer at a unified time. This mechanism not only ensures timely capture and processing of critical data in case of anomalies but also effectively avoids unnecessary network load when no anomalies occur, thus resolving potential data transmission congestion problems and guaranteeing system stability and efficient data processing.

[0073] This application also provides a traffic vibration monitoring system, such as... Figure 3 As shown, the traffic vibration monitoring system includes an electronic compass system, a three-axis accelerometer system, a GNSS system, an equipment power supply and voltage stabilization system, and a data transmission and storage system. The electronic compass system acquires the current attitude of the equipment, including heading, dip, and tilt data; the three-axis accelerometer system acquires and outputs the three-axis acceleration (α) under the current attitude. x ,α y ,α z These acceleration components, combined with attitude data, are transformed into true north and east directions perpendicular to the sea level in a geodetic coordinate system using a preset program, ultimately outputting α. N Acceleration components in the due north direction, α E Acceleration components in the due east direction, α D The acceleration component perpendicular to the sea level. The GNSS system is used to acquire precise position information with an accuracy of 0-2 cm, and simultaneously transmits second pulses to provide precise time synchronization for the entire system. The data transmission and storage system uses a ring-shaped storage format to store data in the storage space.

[0074] This application also provides a traffic vibration monitoring device, such as... Figure 4 As shown, the traffic vibration monitoring equipment includes a digital acceleration sensor (SPI), expandable other series of sensors (SPI), a GNSS system (DI and Series), FLASH, SD storage, an LDO voltage regulator system, a signal transmission system (DO), an MCU, and a signal synchronization and output system (DIO).

[0075] This application also provides a product schematic diagram of a traffic vibration monitoring device, such as... Figure 5 As shown, the traffic vibration monitoring equipment includes a main body and a GNSS system. The main body includes interface 1 and interface 2, with interface 2 configured with a standard threaded port.

[0076] The test device used in this application uses cheaper components, is easy to install and disassemble, is simple to use, saves time and effort, and is more accurate. While meeting environmental protection requirements, it can minimize monitoring errors and greatly improve the efficiency and accuracy of tasks such as vibration monitoring.

[0077] Based on the traffic vibration monitoring method described in the above embodiments, this application also provides a traffic vibration monitoring system, such as... Figure 6 As shown, Figure 6This is a schematic diagram of a traffic vibration monitoring system provided in an embodiment of this application. The traffic vibration monitoring system 6 includes: an electronic compass system 601, a three-axis accelerometer sensor system 602, a processing unit 603, a global navigation satellite system 604, a power supply and voltage stabilization system 605, a host computer 606, and a data transmission and storage system 607; wherein, The electronic compass system 601 is used to acquire the current attitude; wherein, the current attitude includes: heading, tilt angle and dip; The triaxial acceleration sensing system 602 is used to acquire the triaxial acceleration corresponding to the current attitude. The processing system 603 is used to determine the target rotation matrix based on the orientation and the tilt angle; and to perform calculations based on the three-axis accelerations and the target rotation matrix to determine the target acceleration; wherein the target acceleration includes: a first target acceleration, a second target acceleration, and a third target acceleration; the first target acceleration represents the acceleration component in the due north direction; the second target acceleration represents the acceleration component in the due east direction; and the third target acceleration represents the acceleration component perpendicular to the sea level. The data transmission and storage system 607 is used to upload the target acceleration that is greater than the preset acceleration threshold to the host when at least one of the target accelerations corresponding to the sensors in the vibration monitoring system is greater than the preset acceleration threshold. The host 606 is used to send feedback instructions to the at least two sensors; The global navigation satellite system 604 is used to determine the time reference based on the next second pulse synchronization signal from the at least two sensors; The data transmission and storage system 607 is also used to transmit and store the target acceleration based on the time reference, thereby realizing railway traffic vibration monitoring.

[0078] Based on the traffic vibration monitoring method described in the above embodiments, this application also provides a traffic vibration monitoring device, such as... Figure 7 As shown, Figure 7 This is a schematic diagram of the structure of a traffic vibration monitoring device provided in an embodiment of this application. The traffic vibration monitoring device 7 includes a processor 701 and a memory 702. The memory 702 is used to store computer programs; the processor 701 is used to call and run the computer programs from the memory to execute the traffic vibration monitoring method as described in the above embodiment.

[0079] In the embodiments of this application, the processor 701 described above can be at least one of the following: Application-Specific Integrated Circuit (ASIC), Digital Signal Processor (DSP), Digital Signal Processing Device (DSPD), Programmable Logic Device (PLD), Field Programmable Gate Array (FPGA), Central Processing Unit (CPU), Controller, Microcontroller, and Microprocessor. It is understood that for different devices, the electronic device used to implement the above processor function can also be other types, and the embodiments of this application do not specifically limit it.

[0080] This application provides a computer-readable storage medium storing a computer program for implementing the traffic vibration monitoring method as described in any of the above embodiments when executed by a processor.

[0081] For example, the program instructions corresponding to a traffic vibration monitoring method in this embodiment can be stored on a storage medium such as an optical disc, hard disk, or USB flash drive. When the program instructions corresponding to a traffic vibration monitoring method in the storage medium are read or executed by an electronic device, the traffic vibration monitoring method as described in any of the above embodiments can be implemented.

[0082] Furthermore, in the embodiments of this application, the functional modules can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional module.

[0083] If the integrated unit is implemented as a software functional module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the method of this embodiment. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0084] It should be understood that the phrases "one embodiment," "an embodiment," or "some embodiments" mentioned throughout the specification mean that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, "in one embodiment," "in one embodiment," or "in some embodiments" appearing throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It should be understood that in the various embodiments of this application, the sequence numbers of the above-described processes do not imply a sequential order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The sequence numbers of the above-described embodiments are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The descriptions of the various embodiments above tend to emphasize the differences between the various embodiments; their similarities or commonalities can be referred to mutually, and for the sake of brevity, they will not be repeated here.

[0085] The modules described above as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules. They may be located in one place or distributed across multiple network units. Some or all of the modules may be selected to achieve the purpose of this embodiment according to actual needs.

[0086] In addition, each functional module in the various embodiments of this application can be integrated into one processing unit, or each module can be a separate unit, or two or more modules can be integrated into one unit; the integrated modules can be implemented in hardware or in the form of hardware plus software functional units.

[0087] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media that can store program code, such as mobile storage devices, read-only memory (ROM), magnetic disks, or optical disks.

[0088] The methods disclosed in the several method embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments.

[0089] The features disclosed in the several product embodiments provided in this application can be arbitrarily combined without conflict to obtain new product embodiments.

[0090] The features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0091] The above description is merely an embodiment of this application, but the protection scope of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the protection scope of this application. Therefore, the protection scope of this application should be determined by the protection scope of the claims.

Claims

1. A method for monitoring traffic vibrations, characterized in that, The traffic vibration monitoring system includes: an electronic compass system, a three-axis accelerometer sensor system, a computing and processing system, a global navigation satellite system, an equipment power supply and voltage stabilization system, and a data transmission and storage system; the method includes: The current attitude is obtained through the electronic compass system; wherein, the current attitude includes: heading, tilt angle, and dip; The three-axis acceleration corresponding to the current attitude is obtained through the three-axis acceleration sensing system. Based on the orientation and the tilt angle, the target rotation matrix is ​​determined by the computational processing system; Based on the three-axis acceleration and the target rotation matrix, the target acceleration is determined by the calculation and processing system; wherein, the target acceleration includes: a first target acceleration, a second target acceleration, and a third target acceleration; the first target acceleration represents the acceleration component in the due north direction; the second target acceleration represents the acceleration component in the due east direction; and the third target acceleration represents the acceleration component perpendicular to the sea level. Based on the aforementioned global navigation satellite system, a time reference is determined; Based on the time reference, the target acceleration is transmitted and stored through the data transmission and storage system to realize railway traffic vibration monitoring.

2. The method according to claim 1, characterized in that, The determination of the target rotation matrix based on the orientation and the tilt angle by the computational processing system includes: Based on the aforementioned direction, matrix operations are performed by the computational processing system to determine a first rotation matrix; wherein, the first rotation matrix represents the rotation matrix around the Z-axis; Based on the tilt angle, matrix operations are performed by the computational processing system to determine a second rotation matrix; wherein, the second selection matrix represents the rotation matrix about the Y-axis; Based on the first rotation matrix and the second rotation matrix, the target rotation matrix is ​​determined by the computational processing system.

3. The method according to claim 1, characterized in that, The three-axis acceleration includes: a first-direction acceleration, a second-direction acceleration, and a third-direction acceleration; the first-direction acceleration represents the acceleration component in the X direction; the second-direction acceleration represents the acceleration component in the Y direction; and the third-direction acceleration represents the acceleration component in the Z direction. The process of determining the target acceleration based on the three-axis acceleration and the target rotation matrix through the processing system includes: Based on the first directional acceleration and the target rotation matrix, the first target acceleration is determined by the calculation and processing system. Based on the second directional acceleration and the target rotation matrix, the second target acceleration is determined by the calculation and processing system. Based on the third-direction acceleration and the target rotation matrix, the calculation is performed by the processing system to determine the third target acceleration; based on the first target acceleration, the second target acceleration, and the third target acceleration, the target acceleration is determined.

4. The method according to claim 1, characterized in that, The traffic vibration monitoring system also includes: a host computer; the triaxial acceleration sensing system includes: sensors in the vibration monitoring system; The determination of the time reference based on the global navigation satellite system includes: If any of the target accelerations of the sensors in the vibration monitoring system is greater than a preset acceleration threshold, the target acceleration exceeding the preset acceleration threshold will be uploaded to the host. The host computer sends a feedback command to the sensors in the vibration monitoring system. Based on the next second pulse synchronization signal from the sensors in the vibration monitoring system, the time reference is determined via the global navigation satellite system; wherein the second pulse synchronization signal is transmitted by the global navigation satellite system and is used to mark the beginning of an integer second.

5. The method according to any one of claims 1-4, characterized in that, The method of transmitting and storing the target acceleration based on the time reference through the data transmission and storage system to achieve railway traffic vibration monitoring includes: Based on the time reference, the target acceleration of the sensors in the vibration monitoring system is simultaneously uploaded to the host. The target accelerations of the sensors in the vibration monitoring system are stored through the data transmission and storage system to realize vibration monitoring of railway traffic.

6. The method according to claim 5, characterized in that, The method further includes: When the internal buffer of the data transmission and storage system reaches its storage limit, newly written data automatically overwrites the oldest invalid data. The internal buffer is a fixed-capacity data storage structure, and the physical storage space is connected end to end to form a closed loop. The data in the internal buffer follows a first-in, first-out (FIFO) principle, and the data in the internal buffer is dynamically managed through two pointers. The two pointers include a write pointer and a read pointer. The write pointer marks the current data writing position, and the read pointer marks the starting position of the data to be read.

7. The method according to any one of claims 1-4, characterized in that, Before obtaining the current attitude through the electronic compass system, the method further includes: Identify the target soil type for monitoring traffic vibrations; wherein the target soil type characterizes the soil properties. Based on the target soil type and standard threaded interface, determine the installation rod corresponding to the target soil type; The traffic vibration monitoring system is debugged based on the mounting rod.

8. A traffic vibration monitoring system, characterized in that, include: Electronic compass system, three-axis accelerometer sensor system, computing and processing unit, global navigation satellite system, equipment power supply and voltage regulation system, host and data transmission and storage system; The electronic compass system is used to acquire the current attitude; wherein the current attitude includes: heading, tilt angle, and dip. The three-axis acceleration sensing system is used to acquire the three-axis acceleration corresponding to the current attitude; The computational processing system is used to determine the target rotation matrix based on the orientation and the tilt angle; and to perform calculations based on the three-axis accelerations and the target rotation matrix to determine the target acceleration; wherein the target acceleration includes: a first target acceleration, a second target acceleration, and a third target acceleration; the first target acceleration represents the acceleration component in the due north direction; the second target acceleration represents the acceleration component in the due east direction; and the third target acceleration represents the acceleration component perpendicular to the sea level. The data transmission and storage system is used to upload the target acceleration exceeding the preset acceleration threshold to the host when any of the target accelerations of the sensors in the vibration monitoring system exceeds the preset acceleration threshold. The host computer is used to send feedback commands to the sensors in the vibration monitoring system. The global navigation satellite system is used to determine the time reference based on the next second pulse synchronization signal from the sensors in the vibration monitoring system; The data transmission and storage system is also used to transmit and store the target acceleration based on the time reference, thereby realizing railway traffic vibration monitoring.

9. A traffic vibration monitoring device, characterized in that, include: Processor and memory, of which, The memory is used to store computer programs; The processor is configured to call and run the computer program from the memory to perform the method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, It stores executable instructions for causing a processor to execute, thereby implementing the method of any one of claims 1 to 7.

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