A small angle method automatic monitoring system and monitoring method

Abstract

This invention discloses a fully automatic monitoring system and method using the small-angle method, belonging to the field of safety monitoring technology for water conservancy and hydropower projects. The system includes a control host, a main controller, two automatic tracking total stations, and multiple rotatable prism mechanisms. The main controller and the two automatic tracking total stations are communicatively connected to the control host, and the multiple rotatable prism mechanisms are all communicatively connected to the main controller. It enables fully automatic observation of dam horizontal displacement using the line-of-sight method, offering advantages such as high automation, high efficiency, labor savings, and low long-term investment costs. Furthermore, the observation frequency and duration can be flexibly set via the control host, and it is less affected by atmospheric refraction. Most importantly, this invention can react rapidly in situations such as earthquakes and excessive flooding to obtain dam horizontal displacement data, which is of great significance for improving dam safety monitoring capabilities and protecting the lives and property of people downstream.

Description

Technical Field

[0001] This invention relates to a small-angle fully automatic monitoring system and method, belonging to the field of safety monitoring technology for water conservancy and hydropower projects. Background Technology

[0002] In dam horizontal displacement monitoring, using the line of sight to monitor dam deformation is a relatively traditional method among many horizontal displacement monitoring methods. The line of sight is a fixed optical line of sight established parallel to the dam axis, which is used as a reference to periodically observe the deviation of each measuring point from the line of sight.

[0003] The observation methods based on the line of sight mainly include the movable target method and the small angle method. The movable target method involves setting up a theodolite (or line-of-sight instrument) at working base point A and aiming it at another base point B (with a fixed target installed) to form a line of sight, which serves as the baseline for observing dam displacement. The movable target is placed on the displacement marker, with the centerline of the target pattern coinciding with the line of sight. Then, the deviation value of the measuring point is read using the scale and vernier on the steel marker. This is the movable target method. It requires that all measuring points on the line of sight lie on the same straight line, and that the change in displacement of the measuring point be within the range of the movable target.

[0004] When using the movable target method to observe horizontal displacement, the person setting up the target must, under the direction of the instrument master, ensure that the center line of the movable target coincides precisely with the line of sight. When the distance is large, coordination between the two methods becomes difficult. Furthermore, when the measuring point is poorly installed or its displacement varies significantly, the distance the measuring point deviates from the line of sight will exceed the range of the movable target, making it impossible to coincide with the line of sight. In such cases, the small-angle observation method is required to observe the dam's horizontal displacement.

[0005] The working principle of small-angle observation methods is as follows: Figure 1 As shown, A and B are fixed working base points, and C is a displacement measuring point. To determine the deviation value of point C, a theodolite or dam collimator is placed at point A. Fixed targets are simultaneously placed at the backsight fixed working base point B and the displacement target point C. The minute horizontal angle β (in seconds) between the fixed collimation line AB and the displacement target point AC is measured, and the deviation value is calculated accordingly.

[0006] ,

[0007] ,

[0008] Where S is the distance from point A to point C; This is the difference in horizontal displacement. ; The difference in horizontal angles.

[0009] The advantages of the line-of-sight observation method are its simple structure, ease of setup and maintenance, and intuitive and reliable observation values. However, it currently relies mainly on manual observation, resulting in low automation and efficiency. Each observation requires 2-4 rounds of measurement, 3-4 people, and a single-point observation takes about 20 minutes, which is time-consuming, labor-intensive, and has high long-term costs. Manual observation cannot flexibly set the observation frequency and time as needed, requires selecting appropriate observation periods, and is greatly affected by atmospheric refraction. Summary of the Invention

[0010] To address the aforementioned technical problems, this invention provides a fully automatic monitoring system and method using the small-angle method.

[0011] This invention is achieved through the following technical solution:

[0012] A small-angle method fully automatic monitoring system includes a control host, a main controller, two automatic tracking total stations, and multiple rotatable prism mechanisms. The main controller and the two automatic tracking total stations are respectively connected to the control host, and the multiple rotatable prism mechanisms are all connected to the main controller.

[0013] The control host is a computer, and the main controller is a PLC controller.

[0014] The rotatable prism mechanism includes a base, a motor, a prism, and a sub-controller. The motor is mounted on the base, the prism is mounted on the output shaft of the motor, and the sub-controller is communicatively connected to the motor and the main controller.

[0015] The motor is either a stepper motor or a servo motor.

[0016] The prism is circular.

[0017] The sub-controller is an I / O controller.

[0018] A monitoring method for a small-angle fully automatic monitoring system includes the following steps:

[0019] Step 1: Select working reference points A and B on the dam, and install two automatic tracking total stations at working reference points A and B respectively, ensuring that the line of sight AB formed between the two automatic tracking total stations is parallel to the dam axis.

[0020] Step 2: Select n measuring points on the dam that are off the line of sight AB, and install a rotatable prism mechanism at each measuring point;

[0021] Step 3: Connect the rotatable prism mechanism at all measuring points to the main controller for communication, and connect the control host to the main controller and the two automatic tracking total stations for communication.

[0022] Step 4: Using an automatic tracking total station at working benchmark A or working benchmark B, observe the horizontal angles of all measuring points deviating from the line of sight AB in sequence. Then, using an automatic tracking total station at working benchmark B or working benchmark A, observe the horizontal angles of all measuring points deviating from the line of sight AB in sequence.

[0023] Step 5: The control host calculates the distance of the measuring point from the line of sight AB based on the horizontal angle of the measuring point's deviation from the line of sight AB, combined with the distance of the measuring point from the line of sight AB to the working reference point A and working reference point B.

[0024] The method for observing the horizontal angles of all measuring points deviating from the line of sight AB using an automatic tracking total station in step four includes the following steps:

[0025] Step A: The host controller sends a command to the main controller, which then controls the motors at all measuring points through the sub-controllers to drive the prism mirrors at all measuring points to move away from the line of sight AB and become parallel to the line of sight AB.

[0026] Step B: The main controller controls the motor of the target measuring point through the sub-controller to drive the prism mirror of the target measuring point toward the automatic tracking total station at the working base point A;

[0027] Step C: The control host sends a command to the prism at the working base point A to find the target measuring point and observes the horizontal angle of the target measuring point deviating from the line of sight AB;

[0028] Step D: Repeat steps A to C to complete the horizontal angle observation of all remaining measuring points one by one;

[0029] Step E: Referring to steps A to D, use the automatic tracking total station at working base point B to complete the horizontal angle observation of all measuring points one by one.

[0030] The formula for calculating the distance of the measuring point from the line of sight AB in step five is as follows:

[0031] ,

[0032] ,

[0033] ,

[0034] in, The distance of the measuring point from the line of sight AB. The horizontal distance of the measuring point from the line of sight AB, as observed from the working reference point A. The horizontal distance of the measuring point from the line of sight AB, as observed from the working reference point B. To measure the distance from the point along the line of sight AB to the working reference point A, To measure the distance from the point along the line of sight AB to the working reference point B, The horizontal angle of the measuring point from the line of sight AB, as observed from the working reference point A. The horizontal angle of the measuring point from the line of sight AB, as observed from the working base point B.

[0035] The , .

[0036] The beneficial effects of this invention are as follows:

[0037] 1. The small-angle method fully automatic monitoring system and method provided by this invention can realize fully automatic observation of dam horizontal displacement using the line-of-sight method. It has the advantages of high automation, high efficiency, labor saving, and low long-term investment cost. In addition, the observation frequency and observation time can be flexibly set through the control host, and it is less affected by atmospheric refraction. Most importantly, this invention can react quickly in the event of earthquakes, floods exceeding the standard, etc., to obtain the dam horizontal displacement, which is of great significance for improving the dam safety monitoring capability and protecting the lives and property of people downstream.

[0038] 2. Before conducting the observation, first ensure that the prism mirrors at all measuring points are facing away from the line of sight AB, and then turn the prism mirror at the target measuring point toward the automatic tracking total station that is performing the observation task. This effectively solves the problem of prisms at the measuring points blocking each other's line of sight during the observation of the target measuring point by the automatic tracking total station, ensuring that the automatic tracking total station can accurately identify the prism at the target measuring point and preventing the automatic tracking total station from misidentifying the target.

[0039] 3. To improve monitoring accuracy, automatic tracking total stations were installed at both working reference point A and working reference point B, and observations were conducted using a dual-automatic tracking total station network. Simultaneously, a distance-weighted model was introduced, significantly improving the accuracy of the observed values. The monitoring accuracy. Attached Figure Description

[0040] Figure 1 This explains the working principle of existing small-angle observation methods;

[0041] Figure 2 This is a schematic diagram of the small-angle method fully automatic monitoring system of the present invention;

[0042] Figure 3 This is a diagram showing the location distribution of the working base point A, n measuring points, and working base point B of the present invention.

[0043] Figure 4 This is a schematic diagram of the parameters at measuring point C.

[0044] In the diagram: 1-Automatic tracking total station, 2-Control host, 3-Main controller, 4-Rotating prism mechanism, 41-Sub-controller, 42-Prism, 43-Motor, 44-Base. Detailed Implementation

[0045] The technical solution of the present invention is further described below, but the scope of protection is not limited to what is described.

[0046] like Figures 2 to 4 As shown, the small-angle method fully automatic monitoring system of the present invention includes a control host 2, a main controller 3, two automatic tracking total stations 1 and multiple rotatable prism mechanisms 4. The main controller 3 and the two automatic tracking total stations 1 are respectively connected to the control host 2, and the multiple rotatable prism mechanisms 4 are all connected to the main controller 3.

[0047] The control host 2 is a computer, and the main controller 3 is a PLC controller.

[0048] The rotatable prism mechanism 4 includes a base 44, a motor 43, a prism 42, and a sub-controller 41. The motor 43 is mounted on the base 44, and the prism 42 is mounted on the output shaft of the motor 43. The sub-controller 41 is communicatively connected to the motor 43 and the main controller 3. The motor 43 drives the prism 42 to rotate.

[0049] The motor 43 is either a stepper motor or a servo motor. The stepper motor or servo motor drives the prism 42 to rotate precisely.

[0050] The prism 42 is circular.

[0051] The sub-controller 41 is an I / O controller.

[0052] A monitoring method for a small-angle fully automatic monitoring system includes the following steps:

[0053] Step 1: Select working reference points A and B on the dam. Install two automatic tracking total stations (1) one-to-one at working reference points A and B, ensuring that the line of sight AB formed between the two automatic tracking total stations (1) is parallel to the dam axis. To improve monitoring accuracy, automatic tracking total stations (1) are set up at both working reference points A and B, and observations are conducted using a network of two automatic tracking total stations (1).

[0054] Step 2: Select n measuring points on the dam that are off the line of sight AB, and install a rotatable prism mechanism 4 at each measuring point.

[0055] Step 3: Connect the rotatable prism mechanism 4 at all measuring points to the main controller 3, and connect the control host 2 to the main controller 3 and the two automatic tracking total stations 1.

[0056] Step 4: Using the automatic tracking total station 1 at working benchmark A or working benchmark B, observe the horizontal angles of all measuring points deviating from the line of sight AB in sequence. Then, using the automatic tracking total station 1 at working benchmark B or working benchmark A, observe the horizontal angles of all measuring points deviating from the line of sight AB in sequence.

[0057] Step 5: The control host 2 calculates the distance of the measuring point from the line of sight AB based on the horizontal angle of the measuring point's deviation from the line of sight AB, combined with the distance of the measuring point from the line of sight AB to the working base point A and the working base point B.

[0058] The method for observing the horizontal angles of all measuring points deviating from the line of sight AB using the automatic tracking total station 1 in sequence in step four includes the following steps:

[0059] Step A: The host controller 2 sends a command to the main controller 3. The main controller 3 controls the motors 43 of all measuring points through the sub-controllers 41 to drive the prisms 42 of all measuring points to move away from the line of sight AB and parallel to the line of sight AB.

[0060] Step B: The main controller 3 controls the motor 43 of the target measuring point through the sub-controller 41, so as to drive the mirror surface of the prism 42 of the target measuring point to face the automatic tracking total station 1 at the working base point A.

[0061] During the observation of the target measurement point, the automatic tracking total station 1 needs to accurately aim at the prism 42 mirror at the target measurement point. Currently, the highest accuracy automatic tracking total station 1 has a small field-of-view resolution of 9.4'. However, because the horizontal angle between the measurement point and the line of sight AB is very small, if the prism 42 mirrors at all measurement points are facing the automatic tracking total station 1 which is performing the observation task, the automatic tracking total station 1 will not be able to accurately identify the prism 42 at the target measurement point. To solve this problem, before observation, the prism 42 mirrors at all measurement points are first positioned away from the line of sight AB, and then the prism 42 mirrors at the target measurement point are positioned facing the automatic tracking total station 1 which is performing the observation task. This effectively solves the problem of the prisms 42 at the measurement points mutually obstructing the line of sight during the observation of the target measurement point by the automatic tracking total station 1, ensuring that the automatic tracking total station 1 can accurately identify the prism 42 at the target measurement point and preventing the automatic tracking total station 1 from misidentifying the target.

[0062] Step C: The control host 2 sends a command to the automatic tracking total station 1 at the working base point A to find the target measuring point prism 42 and observe the horizontal angle of the target measuring point deviating from the line of sight AB.

[0063] Step D: Repeat steps A through C to complete the horizontal angle observation of all remaining measuring points one by one.

[0064] Step E: Referring to steps A to D, use the automatic tracking total station 1 at the working base point B to complete the horizontal angle observation of all measuring points one by one.

[0065] The formula for calculating the distance of the measuring point from the line of sight AB in step five is as follows:

[0066] ,

[0067] ,

[0068] ,

[0069] in, The distance of the measuring point from the line of sight AB. The horizontal distance of the measuring point from the line of sight AB, as observed from the working reference point A. The horizontal distance of the measuring point from the line of sight AB, as observed from the working reference point B. To measure the distance from the point along the line of sight AB to the working reference point A, To measure the distance from the point along the line of sight AB to the working reference point B, The horizontal angle of the measuring point from the line of sight AB, as observed from the working reference point A. The horizontal angle of the measuring point from the line of sight AB, as observed from the working base point B.

[0070] like Figure 4 As shown, since the monitoring accuracy is related to the distance from the measuring point to the working reference point along the line of sight AB, and the distances from measuring point C to working reference points A and B are not consistent, the measured values ​​of the automatic tracking total station 1 at working reference point A and working reference point B cannot be simply averaged. Furthermore, because the distances from measuring point C to working reference points A and B are unequal, the observed values... , The magnitudes of the included errors are also unequal, assuming that the two automatic tracking total stations have the same accuracy and the same observation period (and that the impact of meteorological conditions on accuracy is consistent). , The magnitude of the error depends only on the distance and is directly proportional to it; therefore, a distance-weighted model is introduced. The weight is , The weight is Then the adjusted observation values By introducing a distance-weighted model, the observed values ​​were significantly improved. The monitoring accuracy.

[0071] The , Due to the horizontal angle and horizontal angle Infinitesimal, therefore , .

Claims

1. A monitoring method for a small-angle fully automatic monitoring system, characterized in that: Includes the following steps: Step 1: Select working base point A and working base point B on the dam, install two automatic tracking total stations (1) one by one at working base point A and working base point B, and ensure that the line of sight AB formed between the two automatic tracking total stations (1) is parallel to the dam axis. Step 2: Select n measuring points on the dam that are off the line of sight AB, and install a rotatable prism mechanism at each measuring point (4). Step 3: Connect the rotatable prism mechanism (4) at all measuring points to the main controller (3) for communication, and connect the control host (2) to the main controller (3) and the two automatic tracking total stations (1) for communication. Step 4: Using the automatic tracking total station at working base point A or working base point B (1), observe the horizontal angles of all measuring points deviating from the line of sight AB in sequence. Then, using the automatic tracking total station at working base point B or working base point A (1), observe the horizontal angles of all measuring points deviating from the line of sight AB in sequence. Step 5, Control host (2) Based on the horizontal angle of the measuring point's deviation from the line of sight AB, and combined with the distance of the measuring point from the working base point A and working base point B in the direction of the line of sight AB, calculate the distance of the measuring point from the line of sight AB; The method of using an automatic tracking total station (1) to sequentially observe the horizontal angles of all measuring points deviating from the line of sight AB in step four includes the following steps: Step A: The host (2) sends a command to the main controller (3), which controls the motors (43) of all measuring points through the sub-controllers (41) to drive the prisms (42) of all measuring points to move away from the line of sight AB and parallel to the line of sight AB. Step B: The main controller (3) controls the motor (43) of the target measuring point through the sub-controller (41) to drive the prism (42) of the target measuring point to face the automatic tracking total station (1) at the working base point A. Step C: The control host (2) sends a command to the automatic tracking total station (1) at the working base point A to find the prism (42) of the target measuring point and observe the horizontal angle of the target measuring point deviating from the line of sight AB; Step D: Repeat steps A to C to complete the horizontal angle observation of all remaining measuring points one by one; Step E: Referring to steps A to D, use the automatic tracking total station at working base point B (1) to complete the horizontal angle observation of all measuring points one by one; The formula for calculating the distance of the measuring point from the line of sight AB in step five is as follows: ， ， ， in, The distance of the measuring point from the line of sight AB. The horizontal distance of the measuring point from the line of sight AB, as observed from the working reference point A. The horizontal distance of the measuring point from the line of sight AB, as observed from the working reference point B. To measure the distance from the point along the line of sight AB to the working reference point A, To measure the distance from the point along the line of sight AB to the working reference point B, The horizontal angle of the measuring point from the line of sight AB, as observed from the working reference point A. The horizontal angle of the measuring point from the line of sight AB, as observed from the working base point B.

2. The monitoring method of the small-angle method fully automatic monitoring system as described in claim 1, characterized in that: The , .

3. The method of claim 1, wherein the method is performed by the system of claim 1. The monitoring method is applied to a monitoring system, which includes a control host (2), a main controller (3), two automatic tracking total stations (1) and multiple rotatable prism mechanisms (4). The main controller (3) and the two automatic tracking total stations (1) are respectively connected to the control host (2), and the multiple rotatable prism mechanisms (4) are all connected to the main controller (3).

4. The method of claim 3, wherein the method is performed by the system of claim 1. The control host (2) is a computer, and the main controller (3) is a PLC controller.

5. The method of claim 3, wherein the method is performed by the system of claim 1. The rotatable prism mechanism (4) includes a base (44), a motor (43), a prism (42), and a sub-controller (41). The motor (43) is mounted on the base (44), the prism (42) is mounted on the output shaft of the motor (43), and the sub-controller (41) is connected to the motor (43) and the main controller (3) for communication.

6. The monitoring method of the small-angle method fully automatic monitoring system as described in claim 5, characterized in that: The motor (43) is a stepper motor or a servo motor.

7. The method of claim 5, wherein the method is performed by the system of claim 1. The prism (42) is circular.

8. The method of claim 5, wherein the method is performed by the system of claim 1. The sub-controller (41) is an I / O controller.

Images