CN110823087A - Storage tank deformation monitoring method, system and terminal based on Beidou Internet of things and computer storage medium - Google Patents

Storage tank deformation monitoring method, system and terminal based on Beidou Internet of things and computer storage medium Download PDF

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Publication number
CN110823087A
CN110823087A CN201911336136.9A CN201911336136A CN110823087A CN 110823087 A CN110823087 A CN 110823087A CN 201911336136 A CN201911336136 A CN 201911336136A CN 110823087 A CN110823087 A CN 110823087A
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China
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beidou
real
data
storage tank
time
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李宁
刘小凯
郜俊伟
余博尧
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Beijing Techlink Intelligent Polytron Technologies Inc
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Beijing Techlink Intelligent Polytron Technologies Inc
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Priority to CN201911336136.9A priority Critical patent/CN110823087A/en
Publication of CN110823087A publication Critical patent/CN110823087A/en
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic means
    • G01B7/16Measuring arrangements characterised by the use of electric or magnetic means for measuring the deformation in a solid, e.g. by resistance strain gauge

Abstract

The application provides a storage tank deformation monitoring method, system, equipment, terminal and computer storage medium based on big dipper thing allies oneself with, the method includes: acquiring real-time satellite positioning data and inclination angle data of a Beidou antenna; transmitting the real-time satellite positioning data and the inclination angle data to a background server, resolving to obtain a storage tank deformation, synchronously generating a real-time change curve, judging whether the storage tank deformation exceeds a threshold value according to a preset mechanism, and triggering an alarm if the storage tank deformation exceeds the threshold value; the Beidou antenna is built on the outer side of the storage tank; according to the method, the deformation of the storage tank can be reflected stereoscopically by combining the Beidou high-precision settlement displacement monitoring method and the inclination monitoring method of the inclination sensor and acquiring the real-time satellite positioning data and the inclination angle data of the Beidou antenna in real time, all-weather, real-time and continuous monitoring of the deformation of the storage tank is realized, artificial centering errors and collimation errors are not needed, and automatic alarm is given after the deformation exceeds the limit.

Description

Storage tank deformation monitoring method, system and terminal based on Beidou Internet of things and computer storage medium
Technical Field
The application relates to the technical field of safe operation and monitoring, in particular to a storage tank deformation monitoring method, a storage tank deformation monitoring system, a storage tank deformation monitoring terminal and a computer storage medium based on Beidou Internet of things.
Background
The storage tank is used as main equipment for storing petroleum, liquefied gas, product oil and chemical products, the construction of the storage tank is developed towards the large scale direction, and after the tank body is completed and put into operation, the tank body can be subjected to deformation such as settlement, displacement, inclination and deflection due to factors such as uneven basic geological structure, peripheral construction influence, underground water level change, load of the tank body and the like. The tiny deformation is difficult to find by naked eyes in the routine inspection and maintenance, accumulates to a certain degree, can be found when functional disorder occurs, and even serious accidents such as floating plate inclination, tank body overturning and the like occur in serious cases. Therefore, daily monitoring is carried out on the deformation of the storage tank, an alarm is given in time after the deformation reaches a design limit value, and the method is very important for guaranteeing the life and property safety of field workers and surrounding people.
At present, the deformation of the spherical tank is monitored mainly by adopting a traditional manual measurement means, the fixed mark on the spherical tank is periodically subjected to precise leveling measurement, the elevation change is observed to obtain the settlement deformation, and a high-precision total station is used for observing the change of the central coordinate of the reflection mark on the spherical tank to obtain the displacement deformation. And the storage tank can be subjected to three-dimensional reconstruction by adopting a three-dimensional laser scanning technology, and the deformation of the spherical tank can be obtained by obtaining slices of the tank body and the pillars at different periods and different heights and performing comparative calculation.
Two means of traditional manual measurement and three-dimensional laser scanning need the technical staff to the on-the-spot data collection, acquire that the frequency is low, discontinuous, need satisfy the sight condition during the observation and can not be sheltered from, and bad weather can not observe, and the precision is influenced by external factor and personnel operation greatly, and it is many to add up from control network to monitoring network error, and data processing time is long, and monitoring cost is high.
Therefore, a storage tank deformation monitoring method, a storage tank deformation monitoring system and a storage tank deformation monitoring terminal based on the Beidou Internet of things are urgently needed. Apparatus and computer storage medium to enable real-time, accurate, reliable, efficient detection of tank deformation.
Disclosure of Invention
Aiming at the defects of the prior art, the application provides a storage tank deformation monitoring method, a storage tank deformation monitoring system, storage tank deformation monitoring equipment, a storage tank deformation monitoring terminal and a computer storage medium based on the Beidou Internet of things, and the problems of low frequency, discontinuity, large operation error, long data processing time, high monitoring cost and the like in the process of collecting storage tank deformation data on site in the prior art are solved.
In order to solve the technical problem, the application provides a storage tank deformation monitoring method based on big dipper thing allies oneself with, includes:
acquiring real-time satellite positioning data and inclination angle data of a Beidou antenna;
transmitting the real-time satellite positioning data and the inclination angle data to a background server, resolving to obtain a storage tank deformation, and synchronously generating a real-time change curve;
judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism, and if so, triggering an alarm;
wherein, big dipper antenna is built outside the storage tank.
Optionally, acquire three-dimensional coordinate monitoring data and inclination angle data of big dipper antenna, include:
receiving and analyzing satellite signals provided by a Beidou antenna in real time through a Beidou receiver to obtain real-time satellite positioning data of the Beidou antenna;
the inclination angle data of the Beidou antenna is acquired in real time through the inclination angle sensor.
Optionally, receive and resolve the satellite signal that big dipper antenna provided through big dipper receiver in real time, acquire big dipper antenna's real-time satellite positioning data, include:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server, and determining differential correction coordinate data according to the absolute coordinate data of the Beidou reference station and the real-time satellite positioning data;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
determining differential correction coordinate data according to absolute coordinate data of the Beidou reference station and real-time satellite positioning data;
and correcting the real-time satellite positioning data of the Beidou antenna according to the difference correction coordinate data to obtain three-dimensional coordinate data of the Beidou antenna.
Optionally, receive and resolve the satellite signal that big dipper antenna provided through big dipper receiver in real time, acquire big dipper antenna's real-time satellite positioning data, include:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server to form time-sequence reference offset data relative to the Beidou reference station absolute coordinate data in the coverage range of the reference station;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
comparing the absolute coordinate data of the Beidou reference station with satellite positioning data of a Beidou antenna to form a time-sequence-changed position vector with the absolute coordinate data of the Beidou reference station as an original point;
and correcting the position vector of the time sequence change by using the reference offset data to form position change data of the Beidou antenna.
Optionally, the real-time satellite positioning data and the inclination angle data are transmitted to a background server, the deformation of the storage tank is obtained by resolving, and a real-time change curve is synchronously generated, including:
after the server side monitors a connection request of a Beidou receiver, receiving real-time satellite positioning data of a Beidou antenna sent by the Beidou receiver and inclination angle data sent by an inclination angle sensor;
and resolving according to the real-time satellite positioning data and the inclination angle data to obtain the sedimentation amount, the displacement amount and the deformation rate of the storage tank, and synchronously generating a real-time change curve.
Optionally, the calculating according to the real-time satellite positioning data and the inclination angle data to obtain the sedimentation amount, the displacement amount and the deformation rate of the storage tank, and synchronously generating a real-time change curve, including:
starting data processing software of the server platform, and performing gross error rejection processing on the Beidou antenna real-time satellite positioning data and the inclination angle data;
and resolving to obtain the sedimentation amount, displacement amount and deformation rate of the storage tank according to the real-time satellite positioning data and the inclination angle data after the gross error elimination processing, and synchronously generating a real-time change curve.
Optionally, whether the deformation of the storage tank exceeds the threshold is judged according to a predetermined mechanism, if yes, an alarm is triggered, and the method includes:
and judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism, if so, sending the deformation data of the storage tank to a remote monitoring center, and performing early warning on the deformation overrun of the storage tank.
In a second aspect, the present application further provides a storage tank deformation monitoring system based on big dipper thing allies oneself with, includes:
the acquisition unit is configured for acquiring real-time satellite positioning data and inclination angle data of the Beidou antenna;
the resolving unit is configured for transmitting the real-time satellite positioning data and the inclination angle data to a background server, resolving to obtain the deformation of the storage tank, and synchronously generating a real-time change curve;
the early warning unit is configured for judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism, and if so, triggering an alarm;
wherein, big dipper antenna is built outside the storage tank.
Optionally, the obtaining unit includes:
the coordinate acquisition unit is configured for receiving and analyzing satellite signals provided by the Beidou antenna in real time through the Beidou receiver to acquire real-time satellite positioning data of the Beidou antenna;
and the inclination angle acquisition unit is configured for acquiring inclination angle data of the Beidou antenna in real time through the inclination angle sensor.
Optionally, the coordinate acquiring unit is specifically configured to:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server, and determining differential correction coordinate data according to the absolute coordinate data of the Beidou reference station and the real-time satellite positioning data;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
determining differential correction coordinate data according to absolute coordinate data of the Beidou reference station and real-time satellite positioning data;
and correcting the real-time satellite positioning data of the Beidou antenna according to the difference correction coordinate data to obtain three-dimensional coordinate data of the Beidou antenna.
Optionally, the coordinate obtaining unit is further specifically configured to:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server to form time-sequence reference offset data relative to the Beidou reference station absolute coordinate data in the coverage range of the reference station;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
comparing the absolute coordinate data of the Beidou reference station with satellite positioning data of a Beidou antenna to form a time-sequence-changed position vector with the absolute coordinate data of the Beidou reference station as an original point;
and correcting the position vector of the time sequence change by using the reference offset data to form position change data of the Beidou antenna.
Optionally, the resolving unit includes:
the receiving unit is configured to receive real-time satellite positioning data of a Beidou antenna and inclination angle data sent by the inclination angle sensor, which are sent by the Beidou receiver, after the server monitors a connection request of the Beidou receiver;
and the calculation unit is configured for calculating the sedimentation amount, the displacement amount and the deformation rate of the storage tank according to the real-time satellite positioning data and the inclination angle data, and synchronously generating a real-time change curve.
Optionally, the computing unit is specifically configured to:
starting data processing software of the server platform, and performing gross error rejection processing on the Beidou antenna real-time satellite positioning data and the inclination angle data;
and resolving to obtain the sedimentation amount, displacement amount and deformation rate of the storage tank according to the real-time satellite positioning data and the inclination angle data after the gross error elimination processing, and synchronously generating a real-time change curve.
Optionally, the early warning unit includes:
the judging unit is configured for judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism;
and the sending unit is configured for sending the storage tank deformation data to a remote monitoring center to perform storage tank deformation overrun early warning if the tank deformation exceeds a threshold value.
In a third aspect, the present application further provides a storage tank deformation monitoring device based on the big dipper thing allies oneself with, includes:
big dipper monitoring station, big dipper reference station and tilt sensor, big dipper monitoring station includes big dipper antenna and big dipper receiver, wherein, big dipper antenna is built in the storage tank outside, big dipper receiver sets up in the storage tank below, tilt sensor installs in the base department of big dipper antenna, big dipper reference station should be built at the stable position that the observation condition is good, and is no longer than the distance of predetermineeing with big dipper monitoring station's distance.
Optionally, the Beidou monitoring station and the Beidou reference station perform data communication in a ground network (2G/3G/4G/5G), wired network, LORA, Beidou short message, NB-IOT or wireless network bridge mode.
In a fourth aspect, the present application provides a terminal, comprising:
a processor, a memory, wherein,
the memory is used for storing a computer program which,
the processor is used for calling and running the computer program from the memory so as to make the terminal execute the method of the terminal.
In a fifth aspect, the present application provides a computer storage medium having stored therein instructions, which when executed on a computer, cause the computer to perform the method of the above aspects.
The deformation of the storage tank can be reflected stereoscopically by combining the Beidou high-precision settlement displacement monitoring method and the inclination monitoring method of the inclination sensor through real-time acquisition of the real-time satellite positioning data and the inclination angle data of the Beidou antenna, and meanwhile, the occurrence of the deformation of the storage tank can be contrasted and verified due to the fact that the two kinds of data have correlation. Monitoring data are transmitted to a background server in a wired and wireless mode, deformation is calculated through professional software, a real-time change curve is synchronously generated, and deformation of the storage tank is accurately calculated and confirmed; whether the safety information of the storage tank exceeds a threshold value or not is judged according to a preset mechanism, and alarm is triggered, so that a manager can master the safety information of the storage tank all the time, the manager can predict in advance when danger is about to occur, an emergency rescue mechanism is started rapidly, the life and property safety of field workers and surrounding people can be guaranteed while property loss is reduced, all-weather, real-time and continuous monitoring of storage tank deformation is realized, artificial centering errors and sighting errors are not needed, and automatic alarm is given after deformation exceeds a limit.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a flowchart of a storage tank deformation monitoring method based on the beidou internet of things according to an embodiment of the present application;
fig. 2 is a schematic diagram of a Beidou differential relative positioning principle provided in the embodiment of the present application;
fig. 3 is a schematic structural diagram of a storage tank deformation monitoring system based on the beidou internet of things according to an embodiment of the present application;
fig. 4 is a schematic composition diagram of a storage tank deformation monitoring device based on the beidou internet of things according to an embodiment of the present application;
FIG. 5 is a schematic structural diagram of a storage tank deformation monitoring terminal based on the Beidou Internet of things provided by the embodiment of the application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart of a storage tank deformation monitoring method based on the beidou internet of things according to an embodiment of the present application, where the method 100 includes:
s101: acquiring real-time satellite positioning data and inclination angle data of a Beidou antenna;
s102: transmitting the real-time satellite positioning data and the inclination angle data to a background server, resolving to obtain a storage tank deformation, and synchronously generating a real-time change curve;
s103: judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism, and if so, triggering an alarm;
wherein, big dipper antenna is built outside the storage tank.
Specifically, the deformation of the storage tank can be reflected three-dimensionally by combining the three-dimensional coordinate change and the inclination angle change of the Beidou antenna, and meanwhile, the occurrence of the deformation of the storage tank can be verified by comparing the two data with each other due to the fact that the two data have correlation. Monitoring data are transmitted to a background server, deformation is calculated through professional software, a real-time change curve is synchronously generated, whether the deformation exceeds a threshold value or not is judged automatically according to a preset mechanism, an alarm is triggered, a manager can master safety information of a storage tank all the time, so that the manager can predict the safety information of the storage tank in advance when danger is about to occur, an emergency rescue mechanism is started quickly, and the life and property safety of field workers and surrounding people can be guaranteed while property loss is reduced.
Based on the above embodiment, as an optional embodiment, the step S101 of obtaining three-dimensional coordinate monitoring data and tilt angle data of the compass antenna includes:
receiving and analyzing satellite signals provided by a Beidou antenna in real time through a Beidou receiver to obtain real-time satellite positioning data of the Beidou antenna;
the inclination angle data of the Beidou antenna is acquired in real time through the inclination angle sensor.
Specifically, the Beidou antenna receives satellite signals in real time, and the Beidou receiver receives and analyzes the satellite signals provided by the antenna in real time to obtain real-time satellite positioning data of the Beidou antenna; because the big dipper antenna sets up on the storage tank, the settlement and the displacement of storage tank body are reflected in the coordinate change of accessible big dipper antenna. In addition, because inclination sensor sets up on big dipper antenna, the inclination data of real-time detection big dipper antenna, the inclination of storage tank body is reflected in the inclination change of accessible big dipper antenna.
Based on above-mentioned embodiment, as optional embodiment, through the satellite signal that big dipper receiver real-time reception and analysis big dipper antenna provided, obtain the real-time satellite positioning data of big dipper antenna, include:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server, and determining differential correction coordinate data according to the absolute coordinate data of the Beidou reference station and the real-time satellite positioning data;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
determining differential correction coordinate data according to absolute coordinate data of the Beidou reference station and real-time satellite positioning data;
and correcting the real-time satellite positioning data of the Beidou antenna according to the difference correction coordinate data to obtain three-dimensional coordinate data of the Beidou antenna.
Specifically, big dipper reference station receives the satellite signal and obtains real-time satellite positioning data, compare through known absolute coordinate data with real-time satellite positioning data with big dipper reference station, can confirm the real-time difference of big dipper reference station and correct the coordinate data, big dipper receiver receives the satellite signal and obtains the real-time satellite positioning data of big dipper antenna simultaneously, correct the real-time satellite positioning data of coordinate data to big dipper antenna according to the difference, then can obtain the three-dimensional coordinate data of big dipper antenna, the change of the three-dimensional coordinate data of monitoring big dipper antenna can obtain the accurate position change data of big dipper antenna.
Based on above-mentioned embodiment, as optional embodiment, through the satellite signal that big dipper receiver real-time reception and analysis big dipper antenna provided, obtain the real-time satellite positioning data of big dipper antenna, include:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server to form time-sequence reference offset data relative to the Beidou reference station absolute coordinate data in the coverage range of the reference station;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
comparing the absolute coordinate data of the Beidou reference station with satellite positioning data of a Beidou antenna to form a time-sequence-changed position vector with the absolute coordinate data of the Beidou reference station as an original point;
and correcting the position vector of the time sequence change by using the reference offset data to form position change data of the Beidou antenna.
Concretely, big dipper reference station receives satellite signal and obtains the real-time satellite positioning data of big dipper basic station, compare through the known accurate absolute coordinate data with the real-time satellite positioning data of big dipper reference station, can confirm the benchmark skew data of the time sequence nature of big dipper reference station absolute coordinate data relatively, compare the absolute coordinate data of big dipper reference station with the real-time satellite positioning data of big dipper antenna simultaneously, and then obtain representation △ X, △ Y, △ Z's change vector, it is right to utilize benchmark skew data △ X, △ Y, △ Z's the change vector of the real-time satellite positioning data three-dimensional direction of big dipper antenna revises, then can obtain the accurate position change data of big dipper antenna.
It should be noted that, both the above two embodiments are manners of correcting the real-time satellite positioning data of the compass antenna. Because big dipper reference station and big dipper receiver are located same region, the satellite clock error of the influence precision that contains in the observation value of big dipper reference station and big dipper receiver, satellite ephemeris error, ionosphere error is highly unanimous with troposphere error, big dipper reference station is stable motionless theoretically, carry out "true distance" between the initial station coordinate assignment to big dipper reference station and can obtain the absolute coordinate data that know the accuracy of big dipper reference station promptly with the satellite, big dipper reference station receives the satellite signal and can obtain "real-time observation distance" the real-time satellite positioning data of big dipper reference station promptly.
As shown in fig. 2, when the big dipper reference station and the big dipper monitoring station are observed synchronously, the difference between the real-time observation distance (real-time satellite positioning data of the big dipper reference station) and the real distance (known accurate absolute coordinate data of the big dipper reference station) of the big dipper reference station has a high correlation with the satellite measurement error of the big dipper monitoring station big dipper receiver in the same area (for example, within 100m away). Therefore, the real-time satellite positioning data of the Beidou antenna is corrected by the differential correction coordinate data of the Beidou reference station, so that the real-time accurate three-dimensional coordinate value of the Beidou antenna can be obtained, or the accurate position change data of the Beidou antenna can be obtained when the real-time observation data of the Beidou satellite is corrected by the reference offset data of the Beidou reference station and the position vector of the time sequence change of the Beidou satellite relative to the absolute coordinate data of the Beidou reference station, and the settlement amount, the displacement amount and the deformation rate of the storage tank can be calculated.
The method adopts a dynamic relative positioning method to determine the instantaneous position change of the Beidou monitoring station relative to the Beidou reference station, so that the real-time performance of the storage tank deformation monitoring is ensured; meanwhile, a static relative positioning method is adopted, and sufficient redundant observation data are obtained through continuous observation so as to ensure millimeter-level precision of storage tank deformation monitoring.
Based on the above embodiment, as an optional embodiment, the step S102 transmits the real-time satellite positioning data and the inclination angle data to a background server, calculates to obtain the deformation of the storage tank, and synchronously generates a real-time change curve, including:
after the server side monitors a connection request of a Beidou receiver, receiving real-time satellite positioning data of a Beidou antenna sent by the Beidou receiver and inclination angle data sent by an inclination angle sensor;
and resolving according to the real-time satellite positioning data and the inclination angle data to obtain the sedimentation amount, the displacement amount and the deformation rate of the storage tank, and synchronously generating a real-time change curve.
Based on the above embodiment, as an optional embodiment, the calculating according to the real-time satellite positioning data and the inclination angle data to obtain the storage tank settlement amount, the displacement amount, and the deformation rate thereof, and synchronously generating a real-time change curve includes:
starting data processing software of the server platform, and performing gross error rejection processing on the Beidou antenna real-time satellite positioning data and the inclination angle data;
and resolving to obtain the sedimentation amount, displacement amount and deformation rate of the storage tank according to the real-time satellite positioning data and the inclination angle data after the gross error elimination processing, and synchronously generating a real-time change curve.
It should be noted that, while the real-time satellite positioning data and the inclination angle data of the Beidou antenna contain deformation information, gross errors may also be contained, so that a relatively appropriate mathematical model needs to be established for the two data through methods such as fitting and prediction, and comprehensive analysis and processing are performed, so as to judge whether the monitoring body (storage tank) is deformed or not, and eliminate data changes caused by various abnormal vibrations.
Specifically, a Kalman filtering method is adopted, limited-time data is used as a calculation basis, the minimum mean square error is used as an estimation criterion, linear recursive estimation is carried out, a space state model of monitoring data and noise is established, gross errors are detected for a three-dimensional coordinate sequence and an inclination angle sequence of the Beidou antenna, and after a monitoring value is subjected to one-step prediction, a one-step prediction residual error e is obtainedkSetting mu as threshold value according to experience and test, when | ek|>When mu is present, considertkThe rough difference of the monitoring value at the moment or the abnormal deformation of the monitoring point occurs, at this time, t is usedk-1Forecasting t from the state of the momentk+1The state of the moment and the forecast residual ek+1When | ek|>Mu and | ek+1|<When μ '(μ' > μ), t is considered to bekThe monitored value of the moment has gross difference, and t can be calculatedkThe monitoring value of the moment is removed, and t isk+1Taking Lagrange interpolation of the time monitoring value and the previous n non-gross-difference monitoring values as tkVirtual monitoring value at time, and from tkFrom the moment, continuing filtering; when | ek|>Mu and | ek+1|>When μ', it is considered that t iskAbnormal deformation of the monitoring point at the moment tkAnd (4) the monitoring value at the moment has no gross error, and filtering is continued. Tests prove that the method can effectively detect gross errors in the monitoring value sequence.
When the Kalman filtering is used for processing data, comparison and verification can be carried out according to the relevance of targeted redundancy layout in the technical scheme, so that the judgment result is more reliable, when the Beidou antenna and the tilt sensor are arranged at almost the same positions, since the height of the inclination sensor with respect to the ground below the tank is determinable, assuming constant displacement of the tank ground connection, the horizontal displacement of the position can be calculated according to the inclination angle variation and the height, theoretically, the displacement calculated according to the inclination angle variation is consistent with the displacement synchronously obtained by the Beidou monitoring station, therefore, after the Kalman filtering detects that the Beidou or the inclination angle monitoring is abnormally deformed, and comparing and verifying the synchronous data, if the results are mostly consistent, proving that the threshold value mu is reasonably set, otherwise, adjusting the value mu to improve the reliability of the Kalman filtering model.
Based on the above embodiment, as an optional embodiment, the step S103 determines whether the deformation amount of the storage tank exceeds the threshold according to a predetermined mechanism, and if yes, triggers an alarm, including:
and judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism, if so, sending the deformation data of the storage tank to a remote monitoring center, and performing early warning on the deformation overrun of the storage tank.
Specifically, whether the deformation of the storage tank exceeds a threshold value is judged according to a preset mechanism, and if yes, the data received by the Beidou receiver are sent to the remote monitoring center, so that the remote monitoring center can monitor and warn the deformation of the storage tank by using the received data.
In addition, it should be noted that the Beidou antenna and the Beidou receiver can perform data communication in a ground network (2G/3G/4G/5G), a wired network, a LORA, a Beidou short message, an NB-IOT or a wireless network bridge mode.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a storage tank deformation monitoring system based on the beidou internet of things according to an embodiment of the present application, where the system 300 includes:
the acquisition unit 301 is configured to acquire real-time satellite positioning data and inclination angle data of the Beidou antenna;
the calculating unit 302 is configured to transmit the real-time satellite positioning data and the inclination angle data to a background server, calculate to obtain a storage tank deformation, and synchronously generate a real-time change curve;
the early warning unit 303 is configured to judge whether the deformation of the storage tank exceeds a threshold value according to a predetermined mechanism, and if so, trigger an alarm;
wherein, big dipper antenna is built outside the storage tank.
Based on the foregoing embodiment, as an optional embodiment, the obtaining unit 301 includes:
the coordinate acquisition unit is configured for receiving and analyzing satellite signals provided by the Beidou antenna in real time through the Beidou receiver to acquire real-time satellite positioning data of the Beidou antenna;
and the inclination angle acquisition unit is configured for acquiring inclination angle data of the Beidou antenna in real time through the inclination angle sensor.
Based on the foregoing embodiment, as an optional embodiment, the coordinate acquiring unit is specifically configured to:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server, and determining differential correction coordinate data according to the absolute coordinate data of the Beidou reference station and the real-time satellite positioning data;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
determining differential correction coordinate data according to absolute coordinate data of the Beidou reference station and real-time satellite positioning data;
and correcting the real-time satellite positioning data of the Beidou antenna according to the difference correction coordinate data to obtain three-dimensional coordinate data of the Beidou antenna.
Based on the foregoing embodiment, as an optional embodiment, the coordinate acquiring unit is specifically configured to:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server to form time-sequence reference offset data relative to the Beidou reference station absolute coordinate data in the coverage range of the reference station;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
comparing the absolute coordinate data of the Beidou reference station with satellite positioning data of a Beidou antenna to form a time-sequence-changed position vector with the absolute coordinate data of the Beidou reference station as an original point;
and correcting the position vector of the time sequence change by using the reference offset data to form position change data of the Beidou antenna.
The Beidou reference station is to be built at a stable position with good observation conditions, and the distance between the Beidou reference station and the Beidou monitoring station is not more than a preset distance.
Based on the above embodiment, as an optional embodiment, the calculating unit 302 includes:
the receiving unit is configured to receive real-time satellite positioning data of a Beidou antenna and inclination angle data sent by the inclination angle sensor, which are sent by the Beidou receiver, after the server monitors a connection request of the Beidou receiver;
and the calculation unit is configured for calculating the sedimentation amount, the displacement amount and the deformation rate of the storage tank according to the real-time satellite positioning data and the inclination angle data, and synchronously generating a real-time change curve.
Based on the foregoing embodiment, as an optional embodiment, the calculating unit is specifically configured to:
starting data processing software of the server platform, and performing gross error rejection processing on the Beidou antenna real-time satellite positioning data and the inclination angle data;
and resolving to obtain the sedimentation amount, displacement amount and deformation rate of the storage tank according to the real-time satellite positioning data and the inclination angle data after the gross error elimination processing, and synchronously generating a real-time change curve.
Based on the above embodiment, as an optional embodiment, the early warning unit 303 includes:
the judging unit is configured for judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism;
and the sending unit is configured for sending the storage tank deformation data to a remote monitoring center to perform storage tank deformation overrun early warning if the tank deformation exceeds a threshold value.
As shown in fig. 4, fig. 4 is a schematic structural diagram of a storage tank deformation monitoring device based on the beidou internet of things provided by the embodiment of the present application, where the device 400 includes:
big dipper monitoring station, big dipper reference station 404 and tilt sensor 403, big dipper monitoring station includes big dipper antenna 401 and big dipper receiver 402, wherein, big dipper antenna 401 is built in the storage tank 405 outside, big dipper receiver 402 sets up in storage tank 405 below, tilt sensor 403 installs in the base department of big dipper antenna 401, big dipper reference station should be built at the stable position that the observation condition is good, and is no longer than predetermineeing the distance with the distance of big dipper monitoring station.
It should be noted that the preset distance can be adjusted according to the field, for example, the distance between the beidou reference station and the beidou monitoring station is not more than 100 m.
Optionally, the beidou receiver 402 and the beidou reference station 404 perform data communication in a ground network (2G/3G/4G/5G), a wired network, an LORA, a beidou short message, an NB-IOT or a wireless network bridge manner.
The Beidou monitoring station comprises, but is not limited to, domestic, imported dual-satellite, three-satellite and four-satellite multi-frequency satellite navigation positioning monitoring equipment, and is used for receiving Beidou satellite signals and transmitting Beidou monitoring station data to the outside, and the transmitted data format comprises, but is not limited to, international standard Rinex data, RTCM data, coordinate data and the like; the Beidou reference station comprises, but is not limited to, domestic, imported dual-satellite, three-satellite and four-satellite multi-frequency satellite navigation positioning monitoring equipment and is used for receiving data sent by a satellite and transmitting Beidou reference station data, and the transmitted data format comprises, but is not limited to, international standard Rinex data, RTCM data, coordinate data and the like; the tilt sensor includes, but is not limited to, domestic and imported tilt angle measurable products, and is used for measuring and transmitting tilt sensor data to the outside, and the transmitted data format includes, but is not limited to, RS485 data and RS232 data. In addition, the Beidou antenna can also be provided with sensors such as but not limited to a static level gauge and an accelerometer.
The communication modes of the Beidou monitoring station and the Beidou reference station 404, the Beidou monitoring station and the background server, the Beidou reference station 404 and the background server, and the tilt sensor and the background server include but are not limited to 3G/4G/5G, wired network, LoRa, Beidou short messages, NB-LOT, wireless network bridge and the like, and data can be directly transmitted through a network or transmitted through a special gateway (data uniform collection and forwarding equipment).
The power supply modes of the Beidou monitoring station, the Beidou reference station and the tilt angle sensor include but are not limited to battery power supply, solar power supply, 220V power supply (alternating current to direct current) and 380V industrial power supply (alternating current to direct current).
Specifically, select stable position construction big dipper reference station at the storage tank periphery, install big dipper antenna at storage tank top or other suitable positions, install big dipper receiver outside storage tank below certain distance and constitute big dipper monitoring station, change through the three-dimensional coordinate of real-time supervision big dipper antenna, reflect the subside and the displacement deformation of storage tank body.
Specifically, the tilt angle sensor is fixed on the surface of the storage tank, the transverse axis or the longitudinal axis of the sensor is parallel to the ground or the direction vertical to the ground as much as possible before the tilt angle sensor is fixed, the sensor is swung forwards, backwards, leftwards and rightwards, the corresponding relation between the axis of the sensor X, Y and the actual transverse and longitudinal axes and the angle change condition are observed, and the actual tilt condition represented by the positive, negative and direction of the angle change value is determined. The mounting position of the tilt angle sensor is close to the position of the Beidou antenna as much as possible. Preferably, the tilt angle sensor is arranged at the base of the Beidou antenna and is arranged on a fixed base of the Beidou antenna, so that the tilt angle sensor can be checked according to the correlation of the tilt angle sensor and the fixed base after deformation; and if the storage tank is regarded as a rigid body, the absolute position change monitored by the Beidou and the posture change monitored by the tilt angle sensor are combined to obtain more real and comprehensive storage tank deformation.
Specifically, the Beidou antenna and the inclination angle sensor need to be subjected to explosion-proof treatment, and the Beidou receiver is arranged in the explosion-proof box. Because the storage tank area has the possibility of releasing explosive gas, the monitoring equipment installed in the explosive dangerous area needs to be subjected to explosion-proof treatment in various ways such as adding an explosion-proof shell, increasing safety, intrinsically safe and pouring, the explosion-proof level requirements of corresponding areas need to be met when the monitoring equipment is installed in different environments, and the consent of related production and management personnel needs to be obtained. If the intrinsic safety processing mode is used for limiting the parameters of resistance, capacitance and inductance used by the equipment so as to ensure that the energy of sparks generated in normal and fault is insufficient to ignite explosive mixtures, and an explosion-proof safety barrier is used for separating circuits of dangerous places and non-dangerous places; the processing mode of additionally installing the flame-proof shell is that parts and components which can generate sparks, electric arcs and dangerous temperatures are placed in the flame-proof shell, the flame-proof shell separates the internal space of the equipment from the surrounding environment, a gap exists in the flame-proof shell and is used for storing explosive mixed gas generated by respiration and gas permeation of electrical equipment, when the explosion occurs, the shell can bear explosion pressure without being damaged, meanwhile, the gap of the shell structure can cool flame, reduce the propagation speed of the flame or stop an acceleration chain, so that the flame or dangerous flame products cannot penetrate through the flame-proof gap, and the flame products are prevented from igniting the external explosive environment, and the purpose of flame-proof is achieved. It should be noted that, because the performance of the monitoring device may be affected after the explosion-proof treatment, a comprehensive test needs to be performed after the explosion-proof treatment, and each index can be installed after meeting the requirement, so as to ensure the designed monitoring effect.
Referring to fig. 5, fig. 5 is a schematic structural diagram of a terminal 500 according to an embodiment of the present disclosure, where the terminal system 300 may be used to execute the storage tank deformation monitoring method based on the beidou internet of things according to the embodiment of the present disclosure.
The terminal system 500 may include: a processor 501, a memory 502, and a communication unit 503. The components communicate via one or more buses, and those skilled in the art will appreciate that the architecture of the servers shown in the figures is not intended to be limiting, and may be a bus architecture, a star architecture, a combination of more or less components than those shown, or a different arrangement of components.
The memory 502 may be used for storing instructions executed by the processor 501, and the memory 502 may be implemented by any type of volatile or non-volatile storage terminal or combination thereof, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk. The executable instructions in memory 502, when executed by processor 501, enable terminal 500 to perform some or all of the steps in the method embodiments described below.
The processor 501 is a control center of the storage terminal, connects various parts of the entire electronic terminal using various interfaces and lines, and performs various functions of the electronic terminal and/or processes data by operating or executing software programs and/or modules stored in the memory 502 and calling data stored in the memory. The processor may be composed of an Integrated Circuit (IC), for example, a single packaged IC, or a plurality of packaged ICs connected with the same or different functions. For example, the processor 501 may include only a Central Processing Unit (CPU). In the embodiment of the present invention, the CPU may be a single operation core, or may include multiple operation cores.
A communication unit 503, configured to establish a communication channel so that the storage terminal can communicate with other terminals. And receiving user data sent by other terminals or sending the user data to other terminals.
The present application also provides a computer storage medium, wherein the computer storage medium may store a program, and the program may include some or all of the steps in the embodiments provided by the present invention when executed. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM) or a Random Access Memory (RAM).
The deformation of the storage tank can be reflected stereoscopically by combining the Beidou high-precision settlement displacement monitoring method and the inclination monitoring method of the inclination sensor through real-time acquisition of the real-time satellite positioning data and the inclination angle data of the Beidou antenna, and meanwhile, the occurrence of the deformation of the storage tank can be contrasted and verified due to the fact that the two kinds of data have correlation. Monitoring data are transmitted to a background server in a wired and wireless mode, deformation is calculated through professional software, a real-time change curve is synchronously generated, and deformation of the storage tank is accurately calculated and confirmed; whether the storage tank deformation exceeds the threshold value or not is judged according to a preset mechanism, alarm is triggered, and a manager can master the safety information of the storage tank all the time, so that the manager can predict in advance when danger is about to occur, an emergency rescue mechanism is started rapidly, the life and property safety of field workers and surrounding people can be guaranteed while property loss is reduced, and real-time, accurate, reliable and effective detection of the storage tank deformation is realized.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system provided by the embodiment, the description is relatively simple because the system corresponds to the method provided by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present application are explained herein using specific examples, which are provided only to help understand the method and the core idea of the present application. It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present application without departing from the principle of the present application, and such improvements and modifications also fall within the scope of the claims of the present application.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

Claims (11)

1. The utility model provides a storage tank deformation monitoring method based on big dipper thing allies oneself with which characterized in that includes:
acquiring real-time satellite positioning data and inclination angle data of a Beidou antenna;
transmitting the real-time satellite positioning data and the inclination angle data to a background server, resolving to obtain a storage tank deformation, and synchronously generating a real-time change curve;
judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism, and if so, triggering an alarm;
wherein, big dipper antenna is built outside the storage tank.
2. The Beidou Internet of things-based storage tank deformation monitoring method according to claim 1, wherein the acquiring of the three-dimensional coordinate monitoring data and the inclination angle data of the Beidou antenna comprises:
receiving and analyzing satellite signals provided by a Beidou antenna in real time through a Beidou receiver to obtain real-time satellite positioning data of the Beidou antenna;
the inclination angle data of the Beidou antenna is acquired in real time through the inclination angle sensor.
3. The Beidou Internet of things-based storage tank deformation monitoring method according to claim 2, wherein the method for acquiring the real-time satellite positioning data of the Beidou antenna by receiving and analyzing the satellite signals provided by the Beidou antenna in real time through the Beidou receiver comprises the following steps:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server, and determining differential correction coordinate data according to the absolute coordinate data of the Beidou reference station and the real-time satellite positioning data;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
determining differential correction coordinate data according to absolute coordinate data of the Beidou reference station and real-time satellite positioning data;
and correcting the real-time satellite positioning data of the Beidou antenna according to the difference correction coordinate data to obtain three-dimensional coordinate data of the Beidou antenna.
4. The Beidou Internet of things-based storage tank deformation monitoring method according to claim 2, wherein the method for acquiring the real-time satellite positioning data of the Beidou antenna by receiving and analyzing the satellite signals provided by the Beidou antenna in real time through the Beidou receiver comprises the following steps:
acquiring real-time satellite positioning data through a Beidou reference station;
transmitting the real-time satellite positioning data to a background server to form time-sequence reference offset data relative to the Beidou reference station absolute coordinate data in the coverage range of the reference station;
the real-time satellite positioning data of the Beidou antenna continuously received by the Beidou receiver is transmitted to a background server through the Beidou receiver;
comparing the absolute coordinate data of the Beidou reference station with satellite positioning data of a Beidou antenna to form a time-sequence-changed position vector with the absolute coordinate data of the Beidou reference station as an original point;
and correcting the position vector of the time sequence change by using the reference offset data to form position change data of the Beidou antenna.
5. The Beidou Internet of things-based storage tank deformation monitoring method according to claim 1, wherein the real-time satellite positioning data and the inclination angle data are transmitted to a background server, the deformation of the storage tank is obtained through calculation, and a real-time change curve is synchronously generated, and the method comprises the following steps:
after the server side monitors a connection request of a Beidou receiver, receiving real-time satellite positioning data of a Beidou antenna sent by the Beidou receiver and inclination angle data sent by an inclination angle sensor;
and resolving according to the real-time satellite positioning data and the inclination angle data to obtain the sedimentation amount, the displacement amount and the deformation rate of the storage tank, and synchronously generating a real-time change curve.
6. The Beidou Internet of things-based storage tank deformation monitoring method according to claim 5, wherein the method comprises the steps of calculating settlement, displacement and deformation rate of the storage tank according to the real-time satellite positioning data and the inclination angle data, and synchronously generating a real-time change curve, and comprises the following steps:
starting data processing software of the server platform, and performing gross error rejection processing on the Beidou antenna real-time satellite positioning data and the inclination angle data;
and resolving to obtain the sedimentation amount, displacement amount and deformation rate of the storage tank according to the real-time satellite positioning data and the inclination angle data after the gross error elimination processing, and synchronously generating a real-time change curve.
7. The Beidou Internet of things-based storage tank deformation monitoring method according to claim 1, wherein the step of judging whether the deformation amount of the storage tank exceeds a threshold value according to a preset mechanism, and if yes, triggering an alarm comprises the following steps:
and judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism, if so, sending the deformation data of the storage tank to a remote monitoring center, and performing early warning on the deformation overrun of the storage tank.
8. The utility model provides a storage tank deformation monitoring system based on big dipper thing allies oneself with, its characterized in that includes: the acquisition unit is configured for acquiring real-time satellite positioning data and inclination angle data of the Beidou antenna;
the resolving unit is configured for transmitting the real-time satellite positioning data and the inclination angle data to a background server, resolving to obtain the deformation of the storage tank, and synchronously generating a real-time change curve;
the early warning unit is configured for judging whether the deformation of the storage tank exceeds a threshold value according to a preset mechanism, and if so, triggering an alarm;
wherein, big dipper antenna is built outside the storage tank.
9. The utility model provides a storage tank deformation monitoring facilities based on big dipper thing allies oneself with, its characterized in that includes:
big dipper monitoring station, big dipper reference station and tilt sensor, big dipper monitoring station includes big dipper antenna and big dipper receiver, wherein, big dipper antenna is built in the storage tank outside, big dipper receiver sets up in the storage tank below, tilt sensor installs in the base department of big dipper antenna, big dipper reference station should be built at the stable position that the observation condition is good, and is no longer than the distance of predetermineeing with big dipper monitoring station's distance.
10. A terminal, comprising:
a processor;
a memory for storing instructions for execution by the processor;
wherein the processor is configured to perform the method of any one of claims 1-8.
11. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 8.
CN201911336136.9A 2019-12-23 2019-12-23 Storage tank deformation monitoring method, system and terminal based on Beidou Internet of things and computer storage medium Pending CN110823087A (en)

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