CN212300318U

CN212300318U - Iron tower attitude early warning device based on big dipper location multi-point is solved

Info

Publication number: CN212300318U
Application number: CN202021290634.2U
Authority: CN
Inventors: 彭朝亮; 王立国; 尹鹏; 吴仁利; 李红云; 周鹏; 孙晨; 院利军; 周瑾; 翟旺勋; 张志韬; 张岩; 张晓远; 贾旭辉; 吴昕昊; 尤哲
Original assignee: Beijing Research Design And Experiment Center Co Ltd Of Tonghao Engineering Bureau Group; CRSC Engineering Group Co Ltd
Current assignee: Beijing Research Design And Experiment Center Co Ltd Of Tonghao Engineering Bureau Group; CRSC Engineering Group Co Ltd; Beijing Research and Design Experiment Center Co Ltd of CRSC Engineering Group Co Ltd
Priority date: 2020-07-03
Filing date: 2020-07-03
Publication date: 2021-01-05
Anticipated expiration: 2030-07-03

Abstract

The utility model discloses an iron tower gesture early warning device based on big dipper location multiple spot is resolved, including iron tower, camera, reflector panel, antenna one, antenna two, antenna three, antenna four, be equipped with antenna one, antenna two, antenna three, antenna four respectively in four directions in the top of iron tower, the bottom of iron tower is equipped with the camera, be equipped with the reflector panel in the camera lens direction of camera, the upper vertical position of reflector panel is equipped with laser emitter, laser emitter installs the upper portion at the iron tower, the positional relationship of camera, reflector panel and laser emitter satisfies that the laser beam that laser emitter transmitted is caught by the camera after the reflector panel, the inside of iron tower is equipped with early warning system; the utility model has the advantages that: 1. and the posture and the settlement of the iron tower are measured with high precision by using the Beidou differential positioning technology. 2. The four antennas are used in a matched mode, so that multi-position fusion resolving of the iron tower is achieved, index filtering is performed, data jitter is eliminated, and accuracy of building of the iron tower deformation module is improved.

Description

Iron tower attitude early warning device based on big dipper location multi-point is solved

Technical Field

The utility model relates to an electric power tech field specifically is an iron tower gesture early warning device based on big dipper location multiple spot is resolved.

Background

In recent years, with the continuous expansion of national high-speed rail network construction and application scale and the rapid development of railway wireless communication technology, iron towers are increasingly applied to railway communication, and become a powerful guarantee for high-speed rail high-efficiency and safe operation. At present, plan period inspection methods are adopted for detecting the running state of the iron tower, and the plan period inspection methods are very necessary safety protection means. However, compared with the requirement of real-time monitoring, the above means is not easy to find problems in time, and has certain subjectivity, and some parameters are difficult to measure in an artificial way, and have certain potential safety hazards and defects, so that a new method is needed to solve the potential safety hazards existing in the current operation situation and the defects existing in the current measures.

The utility model provides an iron tower early warning device based on big dipper satellite technology realizes for solve the not enough of prior art.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an iron tower gesture early warning device based on big dipper location multiple spot is resolved to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

the utility model provides an iron tower gesture early warning device based on big dipper location multiple spot is resolved, includes iron tower, camera, reflector panel, antenna one, antenna two, antenna three, antenna four, be equipped with antenna one, antenna two, antenna three, antenna four respectively in four directions in the top of iron tower, the bottom of iron tower is equipped with the camera, is equipped with the reflector panel in the camera lens direction of camera, and the top vertical position of reflector panel is equipped with laser emitter, and laser emitter installs the upper portion at the iron tower, and camera, reflector panel and laser emitter's positional relation satisfies that the laser beam of laser emitter transmission is caught by the camera behind the reflector panel, and the inside of iron tower is equipped with early warning system.

As a further technical solution of the present invention: the early warning system comprises an antenna part, a background monitoring platform, a monitoring early warning host and a laser monitoring module, wherein the monitoring early warning host is respectively connected with the antenna part, the background monitoring platform and the laser monitoring module.

As a further technical solution of the present invention: the monitoring and early warning host comprises a router, an ARM main control chip, a peripheral, a GNSS receiver, a power module and a power conversion module, wherein the ARM main control chip and the peripheral are respectively connected with the router, the GNSS receiver, the power module and the power conversion module.

As a further technical solution of the present invention: the laser monitoring module comprises a laser module and a monitoring camera, the laser module is connected with the ARM main control chip, and the monitoring camera is connected with the router.

As a further technical solution of the present invention: the antenna portion includes four independent antennas.

As a further technical solution of the present invention: the GNSS receivers are four and are respectively connected with independent antennas.

As a further technical solution of the present invention: and a differential positioning reference station and a data receiving and storing module are arranged in the background monitoring platform.

Compared with the prior art, the beneficial effects of the utility model are that: 1. and the posture and the settlement of the iron tower are measured with high precision by using the Beidou differential positioning technology. 2. The four antennas are used in a matched mode, so that multi-position fusion resolving of the iron tower is achieved, index filtering is performed, data jitter is eliminated, and accuracy of building of the iron tower deformation module is improved. 3. And remote monitoring is realized, an early warning threshold value is set, and the iron tower is controlled and monitored remotely. 4. The space relative positioning and the absolute perpendicular line are combined by combining the direct irradiation of laser rays, the accuracy of the measurement of the posture of the iron tower can be verified while the posture of the iron tower is measured, and the false early warning is prevented.

Drawings

Fig. 1 is a structural diagram of the present invention.

Fig. 2 is a schematic diagram of the system hardware connection framework of the present invention.

In the figure: the antenna comprises an antenna I-1, an antenna II-2, an antenna III-3, an antenna IV-4, a camera-5, a reflector-6, a laser emitter-7 and an iron tower-8.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, embodiment 1: the utility model provides an iron tower gesture early warning device based on big dipper location multi-point is resolved, includes iron tower 8, camera 5, reflector panel 6, antenna 1, antenna two 2, antenna three 3, antenna four 4, be equipped with antenna 1, antenna two 2, antenna three 3, antenna four 4 on four directions in iron tower 8's the top respectively, iron tower 8's bottom is equipped with camera 5, is equipped with reflector panel 6 in camera 5's the camera lens direction, and reflector panel 6's top vertical position is equipped with laser emitter 7, and laser emitter 7 installs on iron tower 8's upper portion, and camera 5, reflector panel 6 and laser emitter 7's positional relation satisfy the laser beam of laser emitter 7 transmission and is caught by camera 5 behind reflector panel 6, and iron tower 8's inside is equipped with early warning system. The method comprises the steps of installing four high-precision Beidou satellite navigation measurement receiving antennas on each iron tower, building a positioning information acquisition model of iron tower multi-position points, wherein an antenna three 3 and an antenna four 4 are installed at the top and the top lower position along the perpendicular bisector direction of the iron tower respectively, the height between the two antennas is fixed, and the antenna three 3 and the antenna four 4 are used for attitude measurement in the vertical direction. The first antenna 1 and the second antenna 2 are symmetrically erected at the rear ends of the two groups of communication antennas respectively, the erecting direction is perpendicular to the perpendicular bisector of the iron tower, the distance between the two antennas is fixed, and the first antenna 1 and the second antenna 2 are used for attitude measurement in the horizontal direction. By matching with a differential positioning technology (RTK), accurate positions can be obtained by the four observation points, the four groups of positioning data are fused and resolved by the background monitoring platform, finally, a posture measurement value is obtained, and indexes such as settlement and inclination required by iron tower early warning are given through theoretical analysis, so that the deformation degree of the iron tower can be judged. Meanwhile, a laser module built on the top of the tower can emit green visible laser, a perpendicular bisector from the top of the tower directly irradiates a reflector at the center of the bottom of the tower, displacement change of laser spots on the reflector is observed through a camera, the displacement range rule of the spots is analyzed, the early warning of iron tower deformation is verified in an auxiliary mode, and an iron tower deformation model calculated by Beidou positioning is corrected.

The using method comprises the following steps: the device is well installed, a system is started, a receiver receives satellite navigation signals through a Beidou satellite navigation high-precision antenna installed on the top of the tower, the satellite navigation signals are divided into two groups (one group is used for attitude measurement, the other group is used for settlement measurement) of data and self positioning, the data and the self positioning are sent to a host through serial ports, and after the host analyzes the data, accurate coordinate data can be obtained and uploaded to a background server. The background server performs fusion calculation on the four groups of positioning data, the data are converted into measurement angle and measurement displacement data, and accurate data are obtained in a smooth mode, so that high-precision measurement of attitude and settlement is realized. The monitoring center simulates a normal posture and a settlement model of the iron tower according to the data and sets an early warning threshold, and once the posture and the settlement data exceed the threshold, the monitoring center can actually observe the position of the laser spot on the reflector by opening the camera, so that whether the iron tower inclines or settles is verified.

Embodiment 2, on the basis of embodiment 1, as shown in fig. 2, the early warning system includes an antenna portion, a background monitoring platform, a monitoring early warning host, and a laser monitoring module, where the monitoring early warning host is connected to the antenna portion, the background monitoring platform, and the laser monitoring module, respectively. The monitoring and early warning host comprises a router, an ARM main control chip, a peripheral, a GNSS receiver, a power module and a power conversion module, wherein the ARM main control chip and the peripheral are respectively connected with the router, the GNSS receiver, the power module and the power conversion module, the number of the GNSS receivers is four, the four GNSS receivers are respectively connected with independent antennas, the monitoring host is mainly used for positioning information acquisition, laser module control, camera image acquisition and data uploading, the Beidou satellite navigation receiver receives satellite navigation signals, extracts measurement information such as satellite navigation messages, time, pseudo-range and carrier phase and transmits the information to a data processor through a serial port, the main control chip receives the satellite navigation receiver data, the data are used for realizing attitude measurement in the horizontal direction and the vertical direction, and the attitude measurement result is transmitted to a monitoring center through a network port reserved by communication equipment. Meanwhile, the closing of the laser module is controlled, and the image of the camera is transmitted to the background monitoring center, so that the real-time image uploading of the light spots of the reflector is realized. The laser monitoring module comprises a laser module and a monitoring camera, the laser module is connected with the ARM main control chip, the monitoring camera is connected with the router, and the laser monitoring part mainly controls the camera to transmit the laser module on the top of the tower to a spot of the reflector to the background monitoring platform. The background monitoring platform monitors the moving track of the laser spot in real time, analyzes the normal distribution of the spot movement, eliminates false alarms caused by external reasons such as wind speed and the like, and finally can more accurately verify whether the iron tower is inclined or not by combining with real-time dynamic positioning. The antenna part comprises four independent antennas and is used for receiving Beidou double-frequency signals and GPS double-frequency signals. The antenna is internally provided with a low noise amplifier, amplifies the signal and transmits the signal to the attitude measurement host. The antenna adopts a high-precision measurement type antenna, and meets centimeter-level measurement precision by matching with a differential positioning reference station (RTK). And a standard installation interface is reserved at the bottom of the antenna, so that construction and installation are facilitated. A differential positioning reference station and a data receiving and storing module are arranged in a background monitoring platform, the background monitoring platform collects and analyzes all information of the iron tower, the method mainly comprises the steps of integrating and resolving the differential positioning reference station and multiple position points and then processing an algorithm, in a Beidou satellite navigation system, a differential positioning (RTK) core technology and a highly reliable carrier tracking algorithm are adopted to adapt to various environment transformations, and a high-quality positioning result is provided. The differential positioning reference station improves the Beidou positioning precision, and real-time dynamic positioning is realized by utilizing the observed value of the carrier phase. The method comprises the steps that real-time dynamic positioning is carried out, position data are sent to a remote monitoring server through Beidou short message communication, real-time centimeter-level coordinate calculation of key positions of an iron tower can be realized by timely finding out the inclined iron tower through an iron tower monitoring and judging strategy, when the attitude of the iron tower is measured, a baseline vector of an antenna 1 is measured, long-time (more than 300s) averaging and smoothing processing based on exponential filtering are carried out, and an obtained result is used as a reference vector; and measuring the baseline vector of the antenna 2 in real time, solving the included angle between the baseline vector and the reference vector by using a dot product formula, averaging the calculation result of the included angle again, and performing smoothing processing based on exponential filtering to obtain the final attitude measurement value.

The angle measurement process is as follows:

wherein:

the reference vector is a vector of the reference vector,

measurement vector

Base line vector smoothing step:

averaging

Wherein x is_iIs the single measurement result, n is the measurement times, all the single measurements are independent and uniformly distributed random variables, and the measurement variance is D (x)_i) Then, then

The results were averaged 100 times and the standard deviation of the mean was one tenth of the standard deviation of a single measurement.

Exponential filtering

After the average value is obtained, exponential filtering is still needed to be carried out on the result, small jitter of data is eliminated, and the static measurement precision is further improved.

When the system carries out settlement measurement, the base line vector of the antenna three 3 is measured, long-time (more than 300s) averaging and smoothing processing based on exponential filtering are carried out, and the smoothing result is used as a reference standard; and measuring the four 4 base line vectors of the antenna in real time, solving the elevation and level change values of the antenna and the reference datum, averaging the calculation result again, and performing smoothing processing based on exponential filtering to obtain a final settlement measurement value. The algorithm is the same as the horizontal attitude measurement algorithm.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. An iron tower posture early warning device based on Beidou positioning and multi-point calculation comprises an iron tower (8), a camera (5), a reflector (6), a first antenna (1), a second antenna (2), a third antenna (3) and a fourth antenna (4), and is characterized in that the first antenna (1), the second antenna (2), the third antenna (3) and the fourth antenna (4) are respectively arranged in four directions of the top of the iron tower (8), the camera (5) is arranged at the bottom of the iron tower (8), the reflector (6) is arranged in the lens direction of the camera (5), a laser emitter (7) is arranged at the vertical position above the reflector (6), the laser emitter (7) is arranged at the upper part of the iron tower (8), and the position relation among the camera (5), the reflector (6) and the laser emitter (7) meets the requirement that a laser beam emitted by the laser emitter (7) is captured by the camera (5) after passing through the reflector (6), an early warning system is arranged in the iron tower (8).

2. The iron tower attitude early warning device based on Beidou positioning multi-point calculation is characterized in that the early warning system comprises an antenna part, a background monitoring platform, a monitoring early warning host and a laser monitoring module, wherein the monitoring early warning host is respectively connected with the antenna part, the background monitoring platform and the laser monitoring module.

3. The iron tower attitude early warning device based on Beidou positioning multi-point calculation is characterized in that the monitoring early warning host comprises a router, an ARM main control chip and peripheral equipment, a GNSS receiver, a power supply module and a power supply conversion module, wherein the ARM main control chip and the peripheral equipment are respectively connected with the router, the GNSS receiver, the power supply module and the power supply conversion module.

4. The iron tower attitude early warning device based on Beidou positioning multi-point calculation is characterized in that the laser monitoring module comprises a laser module and a monitoring camera, the laser module is connected with an ARM main control chip, and the monitoring camera is connected with a router.

5. The iron tower attitude early warning device based on Beidou positioning multi-point calculation is characterized in that the antenna part comprises four independent antennas.

6. The iron tower attitude early warning device based on Beidou positioning multi-point calculation is characterized in that the number of the GNSS receivers is four, and the GNSS receivers are respectively connected with independent antennas.

7. The iron tower attitude early warning device based on Beidou positioning multi-point calculation is characterized in that a differential positioning reference station and a data receiving and storing module are arranged inside the background monitoring platform.