A millimeter-level safety monitoring method for attached scaffolding based on Beidou positioning

Abstract

The application discloses a kind of millimeter level safety monitoring methods of attached scaffold based on Beidou positioning, comprising the following steps: S1: multiple Beidou high-precision receivers are laid on attached scaffold as monitoring point, reference point is set in building and Beidou high-precision receiver is installed;S2: each receiver real-time acquisition original observation data, solve respective elevation value, calculate the elevation difference of each monitoring point relative to reference point;S3: the elevation difference sequence is filtered, and the filtered elevation difference is obtained;S4: based on rigid consistency inspection model, the filtered elevation difference is carried out plane fitting and residual analysis, and the unit weight mean error is calculated;S5: safety early warning is carried out through unit weight mean error and maximum point interval height difference double index, when unit weight mean error exceeds first threshold value or maximum point interval height difference exceeds second threshold value, early warning signal is sent.The beneficial effects of the present application are: unmanned, all-weather, intelligent safety monitoring is realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent construction and construction safety monitoring technology, and in particular to a millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning. Background Technology

[0002] Attached lifting scaffolding is a core temporary facility in high-rise building construction, and its lifting synchronization is directly related to the safety of workers. According to industry standard JGJ 202, the height difference between adjacent lifting points must not exceed 30mm, and the maximum lifting difference of the entire scaffold must be controlled within 80mm. Traditional monitoring relies on load sensors and manual inspections. The former has defects such as uneven distribution of machine positions and blind spots in height difference monitoring, making it difficult to completely avoid the risk of asynchronous scaffolding; the latter is inefficient and unreliable, and cannot meet the needs of large-scale construction.

[0003] In recent years, GNSS automated monitoring technology has been gradually applied, but existing solutions mostly use single-point absolute elevation monitoring. Due to the influence of satellite geometry, tropospheric delay, and multipath effects at construction sites, the elevation accuracy can only reach the decimeter level, which is far from meeting the millimeter-level synchronization control requirements. Therefore, it is urgent to break through the bottleneck of BeiDou positioning accuracy and develop millimeter-level safety monitoring technology suitable for attached scaffolding. Summary of the Invention

[0004] The main technical problem solved by this invention is to provide a millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning, thereby solving one or more of the aforementioned prior art problems.

[0005] To solve the above-mentioned technical problems, the present invention adopts a technical solution as follows: a millimeter-level safety monitoring method for attached scaffolding based on Beidou positioning, the innovation of which is: including the following steps: S1: Multiple BeiDou high-precision receivers are deployed on the attached scaffolding as monitoring points, and reference points are set up inside the building and BeiDou high-precision receivers are installed there. S2: Each receiver collects raw observation data in real time, calculates its own elevation value, and calculates the elevation difference between each monitoring point and the reference point. S3: The elevation difference sequence is filtered to obtain the filtered elevation difference. S4: Based on the rigid body consistency test model, plane fitting and residual analysis are performed on the filtered elevation difference to calculate the unit weight standard error. S5: Safety warnings are issued using both the unit weight standard error and the maximum inter-point elevation difference as dual indicators. When the unit weight standard error exceeds the first threshold or the maximum inter-point elevation difference exceeds the second threshold, a warning signal is issued.

[0006] In some implementations, in step S1, the number of monitoring points is 6, which are fixed at the four corners and the midpoint of the long side of the rectangular scaffold body, respectively, and are fixed to the outside of the safety net with bolts. The antenna is a low-profile anti-multipath antenna.

[0007] In some implementations, in step S1, the reference point is set on the highest floor inside the building where the upper floor slabs have been demolded and the scaffolding has been cleared, and it is not within the coverage area of ​​the attached scaffolding.

[0008] In some implementations, in step S2, the elevation value is calculated via internet access ground augmentation service, and the formula for calculating the elevation difference is: ,in (t) represents the elevation value of monitoring point i at time t. Let t be the elevation value of the reference point at time t.

[0009] In some implementations, step S3 employs a first-order low-pass filter, with the following filter formula: , where α ranges from 0.3 to 0.5.

[0010] In some implementations, in step S4, the rigid body consistency test model calculates the residuals through plane fitting, and the plane equation is: The residual calculation formula is: The formula for calculating the unit weight error is: , where n is the number of fitting points and p is the number of parameters.

[0011] In some implementations, in step S5, the first threshold is 22mm, when the unit weight error When the deformation exceeds 22mm, a warning signal for severe deformation of the frame is issued.

[0012] In some implementations, in step S5, the second threshold is 40mm, when the maximum height difference between points... At that time, a warning signal was issued that the frame was severely tilted.

[0013] In some implementations, the dual-indicator warning is based on an "OR" logical relationship, and the warning is triggered when either threshold is met.

[0014] The beneficial effects of this invention are: High-precision monitoring: By using multi-receiver relative elevation differential and first-order low-pass filtering, common noise such as satellite clock error, orbital error, tropospheric delay and multipath is effectively suppressed, improving the real-time stability of elevation monitoring to about ±10mm. This is the first time that Beidou technology has been applied to the synchronous control of attached scaffolding at the millimeter level, solving the problem of insufficient accuracy of traditional monitoring methods.

[0015] Precise early warning: The dual-index early warning mechanism of rigid body consistency inspection and height difference between points can not only detect overall tilt, but also accurately identify non-rigid body deformations such as local connection loosening and support failure, which significantly improves the pertinence and reliability of early warning and avoids the blind spots of traditional methods in detecting local deformation.

[0016] Unmanned and intelligent: It realizes unmanned, all-weather, and intelligent security monitoring, eliminating the need for manual inspection, improving monitoring efficiency, and reducing labor costs and risks. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein: Figure 1 This is a flowchart of a millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to the present invention.

[0018] Figure 2 This refers to the relative horizontal positions of the six monitoring points and reference points in this embodiment.

[0019] Figure 3 This refers to the relative vertical positions of the monitoring point and the reference point in this embodiment. Detailed Implementation

[0020] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] like Figures 1 to 3 As shown, the embodiments of the present invention include: a specific implementation method for millimeter-level safety monitoring of attached scaffolding based on Beidou positioning is as follows.

[0022] (a) Deployment of the monitoring system 1. Monitoring point setup: Six monitoring points (M1~M6) are set up at the four corners and the midpoint of the long side of the rectangular attached scaffold. The Beidou high-precision receiver is fixed to the outside of the safety net with bolts. The antenna is a low-profile anti-multipath antenna to reduce interference from metal structures on the construction site and ensure the stability of signal reception. This deployment method can effectively capture two types of dangerous deformations of the scaffold under lifting, overload or wind load: overall tilt and nonlinear deformation in the long side direction (such as local bending or mid-section deflection).

[0023] 2. Reference point setting: Reference point R is set on the highest floor inside the building where the upper floor slab has been demolded and the scaffolding has been cleared, and this point is not within the coverage area of ​​the attached scaffolding; the GNSS receiver of the reference point is fixed on a mobile bracket, which is convenient for workers to move to a suitable location, ensuring that the reference point signal is not blocked or interfered with by the scaffolding, and providing an accurate benchmark for monitoring data.

[0024] (II) Data Acquisition and Processing 1. Elevation Data Acquisition and Differential Calculation: Each receiver acquires raw observation data in real time and connects to the ground augmentation service via the Internet to calculate its own elevation value. (Elevation value of monitoring point i at time t) and (Elevation value of the reference point at time t); then calculate the elevation difference of each monitoring point relative to the reference point, using the following formula: Since the distance between the monitoring point and the reference point is usually no more than 50m, according to the law of error propagation, the mean square error of the elevation difference... Through formula Calculations show that, under short baseline (<100m) and the same environmental conditions, the following values ​​are taken: ,like = =100mm, then ≈31.6mm. 2. Filtering: For the elevation difference sequence A first-order low-pass filter is performed to suppress high-frequency noise, and the filtered elevation difference is obtained. The filtering formula is: The value of α ranges from 0.3 to 0.5. When α = 0.3, ≈13.3mm; when α=0.5, The thickness is approximately 18.2mm, and the average error can be reduced to around 15mm.

[0025] 3. Rigid Body Consistency Verification: Based on the rigid body consistency verification model, plane fitting and residual analysis are performed on the filtered elevation difference. It is assumed that the scaffolding approximately undergoes rigid body motion within a short time, and the elevation changes of all monitoring points should be coplanar, satisfying the plane equation Z(x, y) = ax + by + c. Rigid body consistency verification is performed through residual accuracy analysis; the residual calculation formula is as follows: in It is the elevation difference after filtering.

[0026] The formula for calculating the unit weight error is: Where n is the number of fitted points (n = 6), and p is the number of parameters (p = 3); the prior standard value of each residual can be approximated as... ,in =15mm, ≈p / n=0.5, calculated as follows 10.6mm; at this point, the monitoring accuracy in the elevation direction can reach about 10mm.

[0027] (III) Dual-Indicator Early Warning Mechanism 1. Based on the specifications and statistical analysis, set the unit weight mean error. As a warning threshold, when At this time, a warning signal for severe deformation of the frame is issued, indicating that the frame has undergone significant deformation. At this point, the single-point settlement is approximately 39 mm, and the double-point settlement is approximately 31 mm. Under the rigid body assumption, the standardized residual sum of squares follows a chi-square distribution. ,check Distribution critical value, at a confidence level of 99% =11.345, the calculated warning threshold can guarantee a false alarm rate of ≤1%, and is far from reaching the safety threshold of 80mm, thus providing an early warning.

[0028] 2. Maximum Elevation Difference Warning: Considering the overall tilt of the frame, a maximum elevation difference warning is set between points. ≤40mm is used as the warning threshold; when When the tilt exceeds 40mm, a severe tilt warning signal is issued; based on With a measurement accuracy of 15mm and a standard normal distribution, the target threshold is 39mm at a confidence level of 99%, which is far below the safety threshold of 80mm, thus providing effective early warning.

[0029] 3. Warning Logic: The two alarm modes are related by "OR". A warning is triggered when either threshold is met. It is possible for two warning signals to appear simultaneously.

[0030] The advantages of this technical solution are: High-precision monitoring: By using multi-receiver relative elevation differential and first-order low-pass filtering, common noise such as satellite clock error, orbital error, tropospheric delay and multipath is effectively suppressed, improving the real-time stability of elevation monitoring to about ±10mm. This is the first time that Beidou technology has been applied to the synchronous control of attached scaffolding at the millimeter level, solving the problem of insufficient accuracy of traditional monitoring methods.

[0031] Precise early warning: The dual-index early warning mechanism of rigid body consistency inspection and height difference between points can not only detect overall tilt, but also accurately identify non-rigid body deformations such as local connection loosening and support failure, which significantly improves the pertinence and reliability of early warning and avoids the blind spots of traditional methods in detecting local deformation.

[0032] Unmanned and intelligent: It realizes unmanned, all-weather, and intelligent security monitoring, eliminating the need for manual inspection, improving monitoring efficiency, and reducing labor costs and risks.

[0033] III. Examples (I) System Composition The system described in this invention consists of three parts: a positioning and monitoring unit, a data receiving and processing unit, and an alarm unit.

[0034] 1. Positioning and monitoring unit: Select Qianxun Zhicun directly. Mature BeiDou high-precision receiver products are available. These products support internet connectivity, enabling real-time uploading of signal data. They also have built-in batteries with long battery life and do not require a wired power supply. The BeiDou high-precision receivers at the six monitoring points are bolted to the bottom of the outermost frame of the attached scaffolding, allowing for easy removal for charging and maintenance while minimizing signal interference. The GNSS receiver at the reference point is fixed on a mobile support and transported by workers to the middle of the highest floor of the building, below the coverage area of ​​the attached scaffolding, after the upper floor formwork has been removed and the scaffolding has been cleared.

[0035] 2. Data Receiving and Processing Unit: The elevation satellite signal from the GNSS receiver is uploaded to a mobile phone or computer in real time via the Internet. Data processing is performed using the relevant software provided by the GNSS receiver manufacturer. The signal processing unit converts the real-time elevation signals from the six monitoring points and the reference point into six elevation differences according to a formula, then performs a first-order low-pass filter, followed by rigid body consistency checks and tilt checks.

[0036] 3. Alarm Unit: In rigid body consistency testing, if If the tilt reaches 22mm, an alarm is triggered, indicating a serious risk of deformation to the attached scaffolding; during the tilt inspection, if... If the tilt reaches 40mm, an alarm will be triggered, indicating a serious risk of tilting or deformation of the attached scaffolding. The two alarm modes are independent of each other and may be triggered simultaneously.

[0037] Implementation Results: This technical solution was applied in actual high-rise building construction to monitor attached scaffolding in real time. Results show that the system can accurately detect minute deformations and tilts of the scaffolding, issuing timely warnings when safety hazards arise, effectively preventing safety accidents caused by scaffolding deformation or tilting. Furthermore, the unmanned monitoring significantly improves monitoring efficiency and reduces construction costs, providing an efficient and intelligent solution for the management of attached lifting scaffolding.

[0038] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning, characterized in that: Includes the following steps: S1: Install multiple Beidou high-precision receivers as monitoring points on the attached scaffolding, and set up reference points and install Beidou high-precision receivers inside the building. S2: Each receiver collects raw observation data in real time, calculates its own elevation value, and calculates the elevation difference of each monitoring point relative to the reference point; S3: The elevation difference sequence is filtered to obtain the filtered elevation difference; S4: Based on the rigid body consistency test model, the filtered elevation difference is fitted with a plane and subjected to residual analysis to calculate the unit weight standard error; S5: Safety warning is issued through the dual indicators of unit weight standard error and maximum inter-point elevation difference. When the unit weight standard error exceeds the first threshold or the maximum inter-point elevation difference exceeds the second threshold, a warning signal is issued.

2. The millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to claim 1, characterized in that: In step S1, there are 6 monitoring points, which are fixed at the four corners and the midpoint of the long side of the rectangular scaffold body, respectively, and are fixed to the outside of the safety net with bolts. The antenna is a low-profile anti-multipath antenna.

3. The millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to claim 1, characterized in that: In step S1, the reference point is set on the highest floor inside the building where the upper floor slab has been demolded and the scaffolding has been cleared, and it is not within the coverage area of ​​the attached scaffolding.

4. The millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to claim 1, characterized in that: In step S2, the elevation value is calculated via the ground augmentation service accessed through the Internet. The formula for calculating the elevation difference is: ,in (t) represents the elevation value of monitoring point i at time t. Let t be the elevation value of the reference point at time t.

5. The millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to claim 1, characterized in that: In step S3, a first-order low-pass filter is used, and the filter formula is as follows: , where α ranges from 0.3 to 0.

5.

6. The millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to claim 1, characterized in that: In step S4, the rigid body consistency test model calculates the residuals through plane fitting, and the plane equation is: The residual calculation formula is: The formula for calculating the unit weight error is: , where n is the number of fitting points and p is the number of parameters.

7. The millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to claim 1, characterized in that: In step S5, the first threshold is 22mm, and the unit weight error When the deformation exceeds 22mm, a warning signal for severe deformation of the frame is issued.

8. The millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to claim 1, characterized in that: In step S5, the second threshold is 40mm, when the maximum height difference between points... At that time, a warning signal was issued that the frame was severely tilted.

9. A millimeter-level safety monitoring method for attached scaffolding based on BeiDou positioning according to claim 1, characterized in that: The dual-indicator warning is based on an "OR" logical relationship, and a warning is triggered when either threshold is met.

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