CN114111670B - Manhole cover monitoring method and system for underground pipe network, storage medium and server - Google Patents

Manhole cover monitoring method and system for underground pipe network, storage medium and server Download PDF

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CN114111670B
CN114111670B CN202210098111.5A CN202210098111A CN114111670B CN 114111670 B CN114111670 B CN 114111670B CN 202210098111 A CN202210098111 A CN 202210098111A CN 114111670 B CN114111670 B CN 114111670B
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well lid
monitoring
vehicle
data
radio frequency
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CN114111670A (en
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曾峰
周建东
杜锟
王新春
冉迪
李晋川
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Datuo Infinite Chongqing Intelligent Technology Co ltd
Shenzhen Wuyu Zhilian Technology Co ltd
Discovery Technology Shenzhen Co ltd
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Datuo Infinite Chongqing Intelligent Technology Co ltd
Shenzhen Wuyu Zhilian Technology Co ltd
Discovery Technology Shenzhen Co ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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    • G—PHYSICS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
    • G01H17/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves, not provided for in the preceding groups
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L17/00—Devices or apparatus for measuring tyre pressure or the pressure in other inflated bodies
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Abstract

The application provides a well lid monitoring method, a well lid monitoring system, a storage medium and a server of an underground pipe network, wherein each monitoring well lid is provided with a monitoring device, each monitoring device comprises a sensor unit, a main control unit, a wireless communication unit and a first radio frequency induction unit, and the method comprises the following steps: receiving well lid data monitored by a monitoring device on any monitoring well lid, wherein the well lid data comprises well lid vibration data, well lid displacement data and well lid inclination angle data, the well lid data carries a unique number of the monitoring well lid, a monitoring time point and a vehicle code of a related vehicle, the related vehicle is a vehicle when the monitoring well lid is pressed at the monitoring time point, and a second radio frequency induction unit is arranged on a wheel of the related vehicle and can transmit the vehicle code to a first radio frequency induction unit; based on the vehicle code, acquiring the real-time tire pressure when the associated vehicle presses the monitoring well cover; whether hidden danger exists in the monitoring well lid is determined based on the well lid data and the real-time tire pressure.

Description

Manhole cover monitoring method and system for underground pipe network, storage medium and server
Technical Field
The application relates to the technical field of underground pipe networks, in particular to a well lid monitoring method and system for an underground pipe network, a storage medium and a server.
Background
Underground pipelines are important infrastructure for guaranteeing normal operation of cities, and along with adjustment of urban functions and rapid development of urban construction, the underground pipelines are increasingly complicated, pipeline information is frequently updated, and management difficulty is continuously increased. And underground pipe network involves the huge well lid of quantity for cover the deep well of road, prevent that people or object from falling. In the road administration aspect of urban area, generally adopt circular well lid, the difficult slope, the safety of the good pedestrian of protection that can be better and vehicle. The maintenance work of the well cover is the foundation for guaranteeing the safety of pedestrians and vehicles and the stability of the underground pipe network.
Based on this, for the maintenance of the well lid, at present, manual overhaul and maintenance are still mainly relied on, overhaul may not be timely (usually obvious problems occur and are overhauled by points after being reported by pedestrians or vehicle owners), and the potential safety hazard is high; and the carpet type checking and repairing mode wastes too much manpower. Certainly, some "intelligent pipe network" solutions also exist at present, and based on sensor perception, the running states of the pipelines and the equipment are monitored in real time, but the existing solutions are not perfect enough, the monitoring precision is not high, the problems can be found and reported only after obvious problems occur, and hidden dangers are difficult to find in time.
Disclosure of Invention
An object of the embodiments of the present application is to provide a well lid monitoring method and system for an underground pipe network, a storage medium, and a server, so as to perform high-precision monitoring on a well lid, find a well lid with hidden danger in time, provide responsive maintenance work, and better ensure the safety of pedestrians and vehicles and the stability of an underground pipe network.
In order to achieve the above object, embodiments of the present application are implemented as follows:
in a first aspect, an embodiment of the present application provides a well lid monitoring method for an underground pipe network, where each monitoring well lid is provided with a monitoring device, each monitoring device includes a sensor unit, a main control unit, a wireless communication unit, and a first radio frequency sensing unit, and the method includes: receiving well lid data monitored by a monitoring device on any monitoring well lid, wherein the well lid data comprises well lid vibration data, well lid displacement data and well lid inclination angle data, the well lid data carries a unique number of the monitoring well lid, a monitoring time point and a vehicle code of a related vehicle, the related vehicle is a vehicle when the monitoring well lid is pressed at the monitoring time point, and a second radio frequency induction unit is arranged on a wheel of the related vehicle and can transmit the vehicle code to the first radio frequency induction unit; acquiring real-time tire pressure when the associated vehicle presses the monitoring well lid based on the vehicle code; and determining whether hidden danger exists in the monitoring well lid or not based on the well lid data and the real-time tire pressure.
In this application embodiment, through receiving the well lid data (containing well lid vibration data, well lid displacement data and well lid inclination data) that monitoring device monitored on arbitrary monitoring well lid, and carry the only serial number of this monitoring well lid in the well lid data, the monitoring time point and the vehicle code of associated vehicle (the vehicle when pressing this monitoring well lid when monitoring), install second radio frequency induction unit on the wheel of this associated vehicle, can transmit the vehicle code for first radio frequency induction unit. Then, the real-time tire pressure when the associated vehicle presses the monitoring well lid can be obtained based on the vehicle code, and whether hidden danger exists in the monitoring well lid or not is determined based on the well lid data and the real-time tire pressure. The well lid data and the real-time tire pressure when the vehicle presses the monitoring well lid when monitoring that the associated vehicle pressed this monitoring well lid through utilizing monitoring devices on the monitoring well lid, the index of whether this monitoring well lid has hidden danger as the aassessment jointly, well lid data can effectively reflect the problem of well lid self, and the condition when the wheel that the associated vehicle pressed this monitoring well lid can be reflected to real-time tire pressure, whether there is hidden danger with this two judgement monitoring well lid jointly, can effectively promote the monitoring precision to monitoring well lid, in time discover the well lid that has the hidden danger, so as to maintain and overhaul, guarantee the safety of pedestrian's vehicle better, the stability of underground pipe network.
With reference to the first aspect, in a first possible implementation manner of the first aspect, determining whether there is a hidden danger in the monitored manhole cover based on the manhole cover data and the real-time tire pressure includes: determining a maximum displacement value generated in the monitoring process based on the well lid displacement data, comparing the maximum displacement value with a set displacement distance, and determining that a first condition is met when the maximum displacement value reaches the set displacement distance; determining a maximum inclination angle generated in the monitoring process based on the inclination angle data of the well lid, comparing the maximum inclination angle with a set inclination angle, and determining that a second condition is met when the maximum inclination angle reaches the set inclination angle; preprocessing the well lid vibration data, then extracting features to obtain frequency domain features and time domain features, and determining a first risk index based on the frequency domain features and the time domain features; performing feature extraction after the real-time tire pressure is preprocessed to determine kurtosis features, and determining a second risk index based on the kurtosis features; determining a comprehensive risk index based on the first risk index and the second risk index, and determining that a third condition is met when the comprehensive risk index reaches a risk threshold; and when any one of the first condition, the second condition and the third condition is met, determining that the monitoring well lid has hidden danger, otherwise, determining that the monitoring well lid does not have hidden danger.
In the implementation mode, the maximum displacement value generated in the monitoring process is determined based on the well lid displacement data, the maximum displacement value is compared with the set displacement distance, and when the maximum displacement value reaches the set displacement distance, it is determined that the first condition is met. The first condition can be used for judging whether the position of the monitoring well lid changes greatly (the change existing in the process can also be detected, for example, the monitoring well lid returns to the point A after going from the point A to the point B), so that whether the monitoring well lid is loosened (or the well position relative to the well lid rotates) or not can be judged, and whether the monitoring well lid is separated from the original position or not can be detected. And determining the maximum inclination angle generated in the monitoring process based on the inclination angle data of the well lid, comparing the maximum inclination angle with the set inclination angle, and determining that a second condition is met when the maximum inclination angle reaches the set inclination angle. The second condition can be used for judging whether monitoring well lid produces great slope, if the biggest inclination reaches and sets for behind the inclination, shows that this monitoring well lid has taken place to become flexible (lead to monitoring well lid to take place to incline when this monitoring well lid is pressed to the associated vehicle), has the potential safety hazard, needs to overhaul. The well lid vibration data can be preprocessed and then subjected to feature extraction to obtain frequency domain features and time domain features, and a first risk index is further determined; performing feature extraction after the real-time tire pressure is preprocessed, determining kurtosis features, and further determining a second risk index; and determining a comprehensive risk index based on the first risk index and the second risk index, and determining that a third condition is met when the comprehensive risk index reaches a risk threshold. The frequency domain characteristics and the time domain characteristics of the well lid vibration data are utilized to effectively reflect vibration signals generated when the monitoring well lid is pressed by wheels of an associated vehicle, so that the vibration state of the monitoring well lid is reflected by the first risk index determined by the vibration signals, and the first risk index is used as an index for judging whether hidden danger exists in the monitoring well lid; and the corresponding second risk index is determined by utilizing the kurtosis characteristic of the real-time tire pressure (if the monitoring well lid has looseness and inclination, the tire pressure peak is generated when the wheels move to a low point and want to climb to a high point, so that the tire pressure peak is reflected by the kurtosis index), the real-time change condition of the tire pressure when the wheels of the associated vehicle press the monitoring well lid can be reflected, and whether the monitoring well lid has possible hidden danger or not can be reflected from another angle. And determining a comprehensive risk index through the first risk index and the second risk index, and more accurately and comprehensively evaluating whether the hidden danger exists in the monitoring well lid.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the determining a first risk index based on the frequency domain feature and the time domain feature includes: determining a first risk component based on the center of gravity frequency, a second risk component based on the frequency variance, a third risk component based on the peak value, and a fourth risk component based on the average amplitude value; and performing weighted summation on the first risk component, the second risk component, the third risk component and the fourth risk component to determine the first risk index.
In the implementation mode, the gravity center frequency can effectively reflect the vibration condition of the well lid of the monitoring well lid, and can reflect whether the monitoring well lid is loosened or not (compared with well lid displacement data, the more subtle loosening condition can be effectively identified); the frequency variance can reflect the abrupt vibration frequency (for example, when the manhole cover has a millimeter-level fall, wheels press different positions of the monitoring manhole cover, so that different parts of the monitoring manhole cover sink, and the vibration frequency changes obviously, so that the vibration frequency is reflected in the frequency variance); the peak value can reflect the vibration amplitude of the monitored well lid, so that the problem of the looseness of the well lid can be reflected (when the looseness of the well lid is monitored, the vibration peak value is obviously raised); and the average amplitude is used for reflecting the problem of looseness of the monitoring well lid, and when the monitoring well lid is loosened, the average amplitude is obviously higher than the average amplitude when the monitoring well lid is not loosened. Thus, a first risk component is determined based on the center of gravity frequency in the frequency domain feature, a second risk component is determined based on the frequency variance in the frequency domain feature, a third risk component is determined based on the peak in the time domain feature, and a fourth risk component is determined based on the average amplitude in the time domain feature; and carrying out weighted summation on the first risk component, the second risk component, the third risk component and the fourth risk component to determine a first risk index. Therefore, the first risk index can effectively reflect the loosening problem of the monitoring well lid (the loosening of the monitoring well lid has potential safety hazards, and the damage of the monitoring well lid can be accelerated), and the monitoring precision of the monitoring well lid can be remarkably improved.
With reference to the first possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the determining a kurtosis feature by performing feature extraction after the real-time tire pressure preprocessing includes: acquiring a reference tire pressure corresponding to the vehicle code; correcting the real-time tire pressure based on the reference tire pressure to obtain a fluctuating tire pressure; and extracting the characteristics of the fluctuating tire pressure to determine the kurtosis characteristics.
In the implementation mode, the real-time tire pressure is corrected by using the reference tire pressure corresponding to the vehicle code, so that the fluctuation tire pressure is obtained; therefore, the characteristics of the fluctuating tire pressure are extracted, and the kurtosis characteristics are determined. Therefore, influence factors of different vehicles can be eliminated as much as possible, and the reliability of the kurtosis characteristic is improved.
With reference to the first possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, determining a comprehensive risk index based on the first risk index and the second risk index includes: judging whether the first risk index reaches a set index value or not; if the first risk index reaches the set index value, assigning the comprehensive risk index to be the same as the risk threshold value; and if the first risk index does not reach the set index value, carrying out weighted summation on the first risk index and the second risk index to obtain the comprehensive risk index.
In this implementation, if the first risk index reaches the set index value, the comprehensive risk index is assigned to be the same as the risk threshold value, because the first risk index mainly comes from direct measurement of the monitoring well lid, and if the first risk index reaches the corresponding set index value (which may be different from the risk threshold value), it is obvious that the loosening condition of the monitoring well lid is indicated, and therefore the second risk index does not need to be considered to determine that the comprehensive risk index reaches the risk threshold value, so as to prompt that the monitoring well lid has hidden danger. And if the first risk index does not reach the set index value, performing weighted summation on the first risk index and the second risk index to obtain a comprehensive risk index, and further considering the reflection of the inclination problem of the monitoring well lid in the real-time tire pressure (the looseness problem can also be reflected to a certain extent).
In a second aspect, an embodiment of the present application provides a well lid monitoring system for an underground pipe network, including: the monitoring device comprises a plurality of monitoring devices, a plurality of sensors and a controller, wherein the monitoring devices are respectively arranged on a plurality of monitoring well covers with unique numbers, each monitoring device comprises a sensor unit, a main control unit, a wireless communication unit and a first radio frequency induction unit, and the sensor unit comprises a displacement sensor, an inclination sensor and a vibration sensor; each vehicle is provided with a vehicle code and is provided with an automobile electronic control system, each wheel of each vehicle is provided with a second radio frequency induction unit, each wheel is also provided with a tire pressure sensor, and the second radio frequency induction unit of any vehicle can transmit the vehicle code of the vehicle to any first radio frequency induction unit; the server is used for performing wireless communication with the monitoring device through the wireless communication unit of each monitoring device and wireless communication with the vehicle through the automobile electronic control system of each vehicle, and is used for executing the well lid monitoring method of the underground pipe network according to the first aspect or any one of possible implementation manners of the first aspect.
In this application embodiment, through the well lid monitoring system of underground pipe network, can utilize every monitoring devices on the monitoring well lid that has only number, combine the real-time tire pressure of the wheel of the associated vehicle of this monitoring well lid of untimely pressing, realize the high accuracy real-time supervision to every monitoring well lid, and, can monitor after certain monitoring well lid has the hidden danger, can utilize the position of this monitoring well lid of its only number confirmation, thereby guide the staff to overhaul the maintenance to this monitoring well lid accurately.
With reference to the second aspect, in a first possible implementation manner of the second aspect, any one of the monitoring devices is configured to: receiving vehicle codes transmitted by second radio frequency induction units of vehicles in an induction range through first radio frequency induction units, wherein the induction range of each first radio frequency induction unit can only induce the second radio frequency induction unit of one vehicle at the same time point; judging whether the sensor unit is awakened or not in the current time period through the main control unit, wherein the current time period is a time period determined based on the time for transmitting the vehicle code; if the sensor unit is not awakened, clearing the received vehicle code; if the sensor unit is awakened, after the well lid data monitored by the sensor unit is received, the received vehicle code is associated with the well lid data, and the well lid data is associated with the unique number and the monitoring time point of the monitored well lid and then is sent to the server through the wireless communication unit.
In the implementation mode, a first radio frequency induction unit is used for receiving a vehicle code transmitted by a second radio frequency induction unit of a vehicle in an induction range, and a main control unit is used for judging whether a sensor unit is awakened in the current time period; if the sensor unit is not awakened, clearing the received vehicle code; if the sensor unit is awakened, after the well lid data monitored by the sensor unit is received, the received vehicle code is associated with the well lid data, and after the well lid data is associated with the unique number and the monitoring time point of the monitored well lid, the well lid data is sent to the server through the wireless communication unit. Due to the fact that the sensing range of the first radio frequency sensing unit is limited (such as 0.5 meter, 0.6 meter and 1.0 meter), the driving distance of the vehicle, the safe distance when the vehicle runs in parallel and the wheel distance of the vehicle, the fact that the first radio frequency sensing unit only senses the second radio frequency unit (receiving the vehicle code transmitted by the first radio frequency sensing unit) of one vehicle at the same time is effectively guaranteed, and the disorder condition that multiple units sense at the same time is avoided. Whether the vibration sensor is awakened or not is used for judging whether the wheels of the vehicle press the monitoring well cover or not, so that useless vehicle codes can be effectively eliminated in time, and the operating efficiency of the system is improved.
With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner of the second aspect, any vehicle is configured to: transmitting the vehicle code of the vehicle to a first radio frequency induction unit existing in the induction range of the second radio frequency induction unit through the second radio frequency induction unit; and after receiving a feedback signal, sending real-time tire pressure detected by a tire pressure sensor on a wheel where the second radio frequency induction unit is located in a target time period to the server through an automobile electronic control system, wherein the feedback signal is a signal returned by the first radio frequency induction unit after receiving a vehicle code transmitted by the second radio frequency induction unit, the target time period is a time period determined based on the time for transmitting the vehicle code, and the target time period can cover the current time period.
In a third aspect, an embodiment of the present application provides a storage medium, where the storage medium includes a stored program, and when the program runs, a device where the storage medium is located is controlled to execute the method for monitoring a well lid of a subsurface pipe network according to the first aspect or any one of possible implementation manners of the first aspect.
In a fourth aspect, an embodiment of the present application provides a server, including a memory and a processor, where the memory is configured to store information including program instructions, and the processor is configured to control execution of the program instructions, where the program instructions are loaded and executed by the processor to implement the manhole cover monitoring method for a subterranean pipe network according to the first aspect or any one of possible implementation manners of the first aspect.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic view of a well lid monitoring system of an underground pipe network according to an embodiment of the present application.
Fig. 2 is a block diagram of a server according to an embodiment of the present disclosure.
Fig. 3 is a timing diagram of an operation of a manhole cover monitoring system of an underground pipe network according to an embodiment of the present application.
Fig. 4 is a flowchart of a manhole cover monitoring method applied to a subterranean pipe network of a server according to an embodiment of the present disclosure.
Icon: 100-a well lid monitoring system of an underground pipe network; 110-a server; 111-a memory; 112-a communication module; 113-a bus; 114-a processor; 120-a monitoring device; 121-a sensor unit; 122-a master control unit; 123-a wireless communication unit; 124-a first radio frequency induction unit; 130-a vehicle; 131-a second radio frequency induction unit; 132-a tire pressure sensor; 200-monitoring the well cover.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, fig. 1 is a schematic view of a manhole cover monitoring system 100 of an underground pipe network according to an embodiment of the present disclosure.
In the manhole cover monitoring system 100 of the underground network, the server 110 may communicate with a plurality of monitoring devices 120 and a plurality of vehicles 130, respectively.
Illustratively, a plurality of monitoring devices 120 are respectively installed on a plurality of monitoring manhole covers 200 with unique numbers (one monitoring device 120 is installed on each monitoring manhole cover 200), and each monitoring device 120 may include a sensor unit 121, a main control unit 122, a wireless communication unit 123 and a first radio frequency induction unit 124, wherein the sensor unit 121 includes a displacement sensor (for collecting manhole cover displacement data of the monitoring manhole cover 200), an inclination sensor (for collecting manhole cover inclination data of the monitoring manhole cover 200) and a vibration sensor (for collecting manhole cover vibration data of the monitoring manhole cover 200). The server 110 may wirelessly communicate with each monitoring device 120 through the wireless communication unit 123 of the monitoring device 120, respectively. Of course, the wireless communication between the server 110 and each monitoring device 120 may also be implemented by a plurality of internet of things gateways, one internet of things gateway is arranged in each area, each internet of things gateway may wirelessly communicate with a plurality of monitoring devices 120 in the area, and the internet of things gateway in each area may communicate with the server 110, which is not limited herein.
Illustratively, each vehicle 130 has a vehicle code (the vehicle code has uniqueness), and is equipped with an automotive electronic control system. Each wheel of each vehicle 130 is installed with a second rf sensing unit 131, and each wheel is also installed with a tire pressure sensor 132 for monitoring the tire pressure of the wheel, wherein the second rf sensing unit 131 of any vehicle 130 can transmit the vehicle code of the vehicle 130 to any first rf sensing unit 124 (it is required that the second rf sensing unit 131 is located in the sensing range of the first rf sensing unit 124). The server 110 may be in wireless communication with each vehicle 130 via the vehicle electronic control system of that vehicle 130, respectively.
For example, the server 110 is used as a center of the manhole cover monitoring system 100 of the underground pipe network, and the monitoring function of the manhole cover monitoring system 100 of the underground pipe network can be realized by operating the manhole cover monitoring method of the underground pipe network.
Referring to fig. 2, fig. 2 is a block diagram of a server 110 according to an embodiment of the present disclosure.
In this embodiment, the server 110 may be a cloud server, a server cluster, a network server, and the like, which is not limited herein.
Illustratively, the server 110 may include: a communication module 112 connected to the outside through a network, one or more processors 114 for executing program instructions, a bus 113, and a different form of memory 111, such as a disk, ROM, or RAM, or any combination thereof. The memory 111, the communication module 112, and the processor 114 may be connected by a bus 113.
Illustratively, the memory 111 has stored therein a program. The processor 114 can call and run the programs from the memory 111, so that the manhole cover monitoring method of the underground pipe network can be realized by running the programs.
In order to facilitate understanding of the manner in which the manhole cover monitoring system 100 of the underground pipe network performs its functions, the overall operation of the manhole cover monitoring system 100 of the underground pipe network will be described.
Referring to fig. 3, fig. 3 is a timing chart illustrating an operation of the manhole cover monitoring system 100 of the underground pipe network according to the embodiment of the present disclosure.
In the present embodiment, with respect to the monitoring manhole cover 200 provided on the road, there is an opportunity for the vehicle 130 to press the monitoring manhole cover 200 when traveling on the road due to various factors.
Then, for any vehicle 130 (the following vehicles are all vehicles that wirelessly communicate with the server 110 in the present system, and will not be described in detail below): when the vehicle 130 passes or just presses a certain monitoring manhole cover 200, the vehicle code of the vehicle can be transmitted to the first radio frequency induction unit 124 existing in the induction range of the second radio frequency induction unit 131 through the second radio frequency induction unit 131. The sensing range of the second rf sensing unit 131 is a range for establishing rf communication with the first rf sensing unit 124, and the sensing range of the first rf sensing unit 124 described later is also referred to as this range (for example, 0.5 m, 0.6 m, 1.0 m, and 0.5 m is taken as an example in this embodiment).
In this embodiment, the sensing range of each first rf sensing unit 124 can sense only one second rf sensing unit 131 of the vehicle 130 at the same time. Due to the limited sensing range of the first rf sensing unit 124, the driving distance of the vehicle 130, the safe distance in parallel, and the wheel distance of the vehicle 130, it is effectively ensured that the first rf sensing unit 124 only senses the second rf unit (receiving the vehicle code transmitted by the second rf unit) of one vehicle at the same time, and a chaotic situation of simultaneous sensing of multiple units is avoided.
After the first rf sensing unit 124 of a monitoring manhole cover 200 receives the vehicle code transmitted by the second rf sensing unit 131 of the vehicle 130, a feedback signal may be returned to the second rf sensing unit 131.
Meanwhile, the main control unit 122 of the monitoring device 120 on the monitoring manhole cover 200 may determine whether the sensor unit 121 wakes up in a current time period, where the current time period is a time period determined based on the time for transmitting the vehicle code, for example, 3 seconds, 10 seconds, and the like, and may be set according to actual needs. Here, the waking up manner of the sensor unit 121 may be that the sensor unit 121 may be wakened up by vibration generated when the wheel presses the monitoring manhole cover 200, or the sensor unit 121 may be wakened up after a pressure signal acquired by an additionally installed pressure sensor reaches a certain pressure value, which is not limited herein.
If the sensor unit 121 is not awake, the main control unit 122 may clear the received vehicle code.
If the sensor unit 121 is awakened, then, each sensor in the sensor unit 121 may collect well lid data (including well lid displacement data, well lid inclination angle data, and well lid vibration data) of the monitoring well lid 200, and send the collected well lid data to the main control unit 122. After receiving the well lid data monitored by the sensor unit 121, the main control unit 122 may associate the received vehicle code with the well lid data, associate the well lid data with the unique number of the monitored well lid 200 and the monitoring time point, and send the well lid data to the server 110 through the wireless communication unit 123. Here, the acquisition duration of the manhole cover data can be determined in various manners, for example, the radio frequency communication state between the first radio frequency sensing unit 124 and the second radio frequency sensing unit 131 can be confirmed once every a certain period (for example, 1 second). When the radio frequency communication state between the first radio frequency induction unit 124 and the second radio frequency induction unit 131 is disconnected, the collection of the manhole cover data is finished.
Whether the vibration sensor is awakened or not is used for judging whether the wheels of the vehicle 130 press the monitoring well cover 200 or not, so that useless vehicle codes can be effectively eliminated in time, and the operating efficiency of the system is improved.
At the same time, after the second rf sensing unit 131 receives the feedback signal, the real-time tire pressure detected by the tire pressure sensor 132 on the wheel where the second rf sensing unit 131 is located in the target time period may be sent to the server 110 through the electronic control system of the vehicle. The target time period is a time period determined based on the time at which the vehicle code is transmitted, and the target time period may cover the current time period (which may be the same or different, but the target time period may cover the current time period).
The server 110 can receive the well lid data (including well lid displacement data, well lid inclination data, and well lid vibration data, and associated with the received vehicle code, the unique number of the monitoring well lid 200, and the monitoring time point, where the monitoring time point is the time point when the vehicle code is transmitted) sent by the monitoring device 120 and the real-time tire pressure (carrying the vehicle code of the associated vehicle) sent by the automotive electronic control system of the associated vehicle (i.e., the vehicle that has pressed the monitoring well lid 200 in the time period).
Based on this, the server 110 may operate a manhole cover monitoring method of the underground pipe network.
Referring to fig. 4, fig. 4 is a flowchart of a manhole cover monitoring method applied to a ground pipe network of a server 110 according to an embodiment of the present disclosure. In this embodiment, the manhole cover monitoring method of the underground pipe network may include step S10, step S20, and step S30.
First, the server 110 may perform step S10.
Step S10: receive the well lid data that monitoring devices on arbitrary monitoring well lid monitored, wherein, the well lid data contains well lid vibration data, well lid displacement data and well lid inclination data, carry the only serial number of this monitoring well lid, the vehicle code of monitoring time point and associated vehicle in the well lid data, the vehicle when this monitoring well lid is pressed for the monitoring time point to associated vehicle, and installs the second radio frequency induction unit on the wheel of this associated vehicle, can transmit the vehicle code first radio frequency induction unit.
In this embodiment, the server 110 can receive the manhole cover data (including manhole cover displacement data, manhole cover inclination data and manhole cover vibration data, and associated with the received vehicle code, the unique number of the monitoring manhole cover 200 and the monitoring time point) monitored by the monitoring device 120 on any monitoring manhole cover 200. Meanwhile, the server 110 may also receive real-time tire pressure (carrying the vehicle code and monitoring time point of the associated vehicle) sent by the vehicle electronic control system of the associated vehicle (i.e., the vehicle that has pressed the monitoring manhole cover 200 in this period).
After receiving the manhole cover data and the real tire pressure, the server 110 may perform step S20.
Step S20: and acquiring the real-time tire pressure when the associated vehicle presses the monitoring well lid based on the vehicle code.
In this embodiment, the server 110 may obtain the real-time tire pressure when the associated vehicle presses through the monitoring manhole cover 200 based on the vehicle code.
Since the real-time tire pressures received by the server 110 in a certain time period are not unique, the server 110 may match the vehicle codes carried by the received real-time tire pressures with the vehicle codes carried by the received real-time tire pressures through the vehicle codes carried by the well lid data, so as to determine the real-time tire pressures (the vehicle codes are consistent and the monitoring time points are consistent) corresponding to the well lid data in the time period. Thus, the server 110 can obtain the real-time tire pressure when the associated vehicle presses through the monitoring manhole cover 200.
Because the time length of the received well lid data is inconsistent with the time length of the real-time tire pressure, and both the well lid data and the real-time tire pressure may have a certain invalid signal section, the well lid data and the real-time tire pressure can be subjected to preliminary processing before the step S30 is executed.
In this embodiment, can discern the well lid vibration data in the well lid data, determine the effective signal section wherein (the signal section of gathering when this monitoring well lid 200 was pressed to the wheel promptly, the characteristic can obviously be distinguished from the wireless signal section, and the signal section of gathering when the invalid signal section shows that the wheel does not press this monitoring well lid 200), regard effective signal section as the well lid vibration data after handling. The processed well lid vibration data has a starting time point and an ending time point, and is used as a determination time point for effective signal sections of well lid displacement data, well lid inclination angle data and real-time tire pressure to obtain the processed well lid displacement data, the processed well lid inclination angle data and the processed real-time tire pressure.
Then, the server 110 may perform step S30.
Step S30: and determining whether hidden danger exists in the monitoring well lid or not based on the well lid data and the real-time tire pressure.
In this embodiment, the server 110 may determine whether there is a hidden danger in the monitoring manhole cover 200 based on the manhole cover data (including the processed manhole cover vibration data, the manhole cover displacement data, and the manhole cover inclination data) and the real-time tire pressure (the processed real-time tire pressure).
Through receiving the well lid data (including well lid vibration data, well lid displacement data and well lid inclination data) that monitoring device 120 on arbitrary monitoring well lid 200 monitored, and carry the unique serial number, the monitoring time point of this monitoring well lid 200 and the vehicle code of associated vehicle (the vehicle when pressing this monitoring well lid 200 when monitoring) in the well lid data, install second radio frequency induction unit 131 on the wheel of this associated vehicle, can transmit the vehicle code to first radio frequency induction unit 124. Then, the real-time tire pressure when the associated vehicle presses the monitoring manhole cover 200 can be obtained based on the vehicle code, and whether the monitoring manhole cover 200 has hidden danger or not can be determined based on the manhole cover data and the real-time tire pressure. The well lid data and the real-time tire pressure when the vehicle presses the monitoring well lid 200 when the monitoring well lid 200 is monitored by the monitoring device 120 on the monitoring well lid 200, the well lid data and the real-time tire pressure when the vehicle presses the monitoring well lid 200 are jointly used as indexes for evaluating whether the hidden danger exists in the monitoring well lid 200, the well lid data can effectively reflect the problem of the well lid, the real-time tire pressure can reflect the condition when the wheel of the associated vehicle presses the monitoring well lid 200, the two are combined to judge whether the hidden danger exists in the monitoring well lid 200, the monitoring precision of the monitoring well lid 200 can be effectively improved, the well lid with the hidden danger can be timely found, so that the maintenance and the overhaul are carried out, the safety of pedestrians and vehicles can be better guaranteed, and the stability of an underground pipe network can be better guaranteed.
For example, for the manhole cover displacement data, the server 110 may determine a maximum displacement value generated in the monitoring process based on the manhole cover displacement data, compare the maximum displacement value with a set displacement distance, and determine that the first condition is satisfied when the maximum displacement value reaches the set displacement distance.
The first condition may be used to determine whether the position of the monitoring manhole cover 200 has changed significantly (the change in the process may also be detected, for example, from point a to point B and then back to point a), so as to determine whether the monitoring manhole cover 200 has become loose (or has rotated relative to the pit position of the manhole cover), or whether the monitoring manhole cover 200 has been detached from the original position.
For example, for the manhole cover inclination angle data, the server 110 may determine a maximum inclination angle generated in the monitoring process based on the manhole cover inclination angle data, compare the maximum inclination angle with a set inclination angle, and determine that the second condition is satisfied when the maximum inclination angle reaches the set inclination angle.
The second condition can be used for judging whether monitoring well lid 200 produces great slope, if the biggest inclination reaches and sets for behind the inclination, shows that this monitoring well lid 200 has taken place to become flexible (lead to monitoring well lid 200 to take place to incline when this monitoring well lid 200 is pressed to the associated vehicle), has the potential safety hazard, needs to overhaul.
Illustratively, for the manhole cover vibration data, the server 110 may perform feature extraction after preprocessing the manhole cover vibration data to obtain a frequency domain feature and a time domain feature, and determine the first risk index based on the frequency domain feature and the time domain feature. The preprocessing here can include filtering, outlier rejection and other common preprocessing operations.
Specifically, the frequency domain features include a center of gravity frequency and a frequency variance, and the time domain features include a peak value and an average amplitude value, then server 110 may determine a first risk component based on the center of gravity frequency, a second risk component based on the frequency variance, a third risk component based on the peak value, and a fourth risk component based on the average amplitude value. In the present embodiment, the risk component may be determined in proportion to the reference value, for example, by using a ratio between the center of gravity frequency FC and the reference value FC' of the center of gravity frequency, the first risk component is determined. For other risk components, similar or other applicable assignment methods may be used to determine the corresponding risk component (determine the second risk component based on the frequency variance VF, and determine the peak value X based on the peak value XpeakDetermining the third risk component and determining the fourth risk component based on the average amplitude PF), which is not limited herein, and a suitable assignment manner may be selected according to actual needs.
The gravity center frequency can effectively reflect the well lid vibration condition of the monitoring well lid 200 and can reflect whether the monitoring well lid 200 is loosened or not (compared with well lid displacement data, the finer loosening condition can be effectively identified); the frequency variance can reflect the abrupt vibration frequency (for example, when the manhole cover has a drop of millimeter level, and wheels press different positions of the monitoring manhole cover 200, different parts of the monitoring manhole cover 200 sink, so that the vibration frequency changes obviously, and the vibration frequency is reflected in the frequency variance); the peak value can reflect the vibration amplitude of the monitoring well lid 200, so that the problem of well lid loosening can be reflected (when the well lid 200 is monitored to be loosened, the vibration peak value is obviously raised); the average amplitude is also used for reflecting the problem of looseness of the monitoring well lid 200, and when the monitoring well lid 200 is loosened, the average amplitude is obviously higher than that when the monitoring well lid 200 is not loosened. Thus, a first risk component is determined based on the center of gravity frequency in the frequency domain feature, a second risk component is determined based on the frequency variance in the frequency domain feature, a third risk component is determined based on the peak in the time domain feature, and a fourth risk component is determined based on the average amplitude in the time domain feature.
Server 110 may then perform a weighted summation of the first risk component, the second risk component, the third risk component, and the fourth risk component to determine a first risk index. Therefore, the first risk index can effectively reflect the loosening problem of the monitoring well lid 200 (the loosening of the monitoring well lid 200 has potential safety hazards, and the damage of the monitoring well lid 200 can be accelerated), and the monitoring precision of the monitoring well lid 200 can be remarkably improved.
For example, for the real-time tire pressure, the server 110 may perform feature extraction after preprocessing the real-time tire pressure, determine a kurtosis feature, and determine a second risk index based on the kurtosis feature.
Specifically, the server 110 may obtain a reference tire pressure corresponding to the vehicle code, modify the real-time tire pressure based on the reference tire pressure to obtain a fluctuating tire pressure, and perform feature extraction on the fluctuating tire pressure to determine the kurtosis feature. Therefore, influence factors of different vehicles can be eliminated as much as possible, and the reliability of the kurtosis characteristic is improved.
Of course, in some other possible implementations, in order to further more reliably correct the real-time tire pressure, when acquiring the reference tire pressure corresponding to the vehicle code, the server 110 may first acquire the vehicle speed (transmitted to the server 110 together with the real-time tire pressure) of the associated vehicle corresponding to the vehicle code at the monitoring time, and acquire the reference tire pressure of the associated vehicle at the vehicle speed, so as to further improve the reliability of the kurtosis characteristic in consideration of the vehicle speed of the associated vehicle.
Server 110 may then assign a kurtosis feature, for example, by determining an assignment of the kurtosis feature by a ratio between kurtosis feature K and a reference kurtosis K '(e.g., K' = 3), resulting in a corresponding second risk index, which is not limited herein.
The corresponding second risk index is determined by utilizing the kurtosis characteristic of the real-time tire pressure (if the monitoring well lid 200 has loose inclination, the tire pressure peak is generated when the wheels move to a low point and want to climb to a high point, so that the tire pressure peak is reflected by the kurtosis index), the real-time change condition of the tire pressure when the wheels of the associated vehicle press the monitoring well lid 200 can be reflected, and whether the monitoring well lid 200 has possible hidden danger or not can be reflected from another angle.
Server 110 may then determine a composite risk index based on the first risk index and the second risk index, and determine that a third condition is satisfied when the composite risk index reaches a risk threshold. The comprehensive risk index is determined through the first risk index and the second risk index, and whether hidden dangers exist in the monitoring well lid 200 can be evaluated more accurately and comprehensively.
Specifically, the manner in which the server 110 determines the composite risk index may be:
the server 110 may first determine whether the first risk index reaches a set index value (different from the risk threshold): if the first risk index reaches the set index value, the composite risk index may be assigned to the same value as the risk threshold (i.e., such that the third condition is satisfied). If the first risk index does not reach the set index value, the server 110 may further perform weighted summation on the first risk index and the second risk index to obtain a comprehensive risk index.
If the first risk index reaches the set index value, the comprehensive risk index is assigned to be the same as the risk threshold value, because the first risk index mainly comes from direct measurement of the monitoring manhole cover 200, if the first risk index reaches the corresponding set index value (which can be different from the risk threshold value), the loosening condition of the monitoring manhole cover 200 is obvious, and therefore the comprehensive risk index can be determined to reach the risk threshold value without considering the second risk index, so that the monitoring manhole cover 200 is prompted to have hidden dangers. And if the first risk index does not reach the set index value, performing weighted summation on the first risk index and the second risk index to obtain a comprehensive risk index, and further considering the reflection of the inclination problem of the monitoring well lid 200 in the real-time tire pressure (the loosening problem can also be reflected to a certain extent).
When any one of the first condition, the second condition and the third condition is met, the server 110 may determine that the monitoring manhole cover 200 has a hidden danger, otherwise (that is, the first condition, the second condition and the third condition are not met), the server 110 may determine that the monitoring manhole cover 200 has no hidden danger.
If the server 110 determines that no potential hazard exists in monitoring the manhole cover 200, the server 110 may not process the data, or the data may be stored or cleared.
If the server 110 determines that there is a hidden danger in the monitoring manhole cover 200, the server 110 may determine, based on the unique number of the monitoring manhole cover 200, the associated information of the monitoring manhole cover 200, such as the installation location, the model number of the manhole cover, and information of a manhole cover maintenance worker, so as to notify the manhole cover maintenance worker to perform maintenance on the monitoring manhole cover 200.
Therefore, by operating the server 110 to the well lid monitoring method of the underground pipe network, the well lid monitoring system 100 of the underground pipe network can utilize the monitoring device 120 on each monitoring well lid 200 with a unique number, and combine with the real-time tire pressure of the wheels of the associated vehicle which press the monitoring well lid 200 at variable time, thereby realizing high-precision real-time monitoring of each monitoring well lid 200 and finding out the potential safety hazard of the monitoring well lid 200 in time. After monitoring that there is hidden danger in a certain monitoring well lid 200, can also utilize its unique number to confirm the position of this monitoring well lid 200 to guide the staff accurately to overhaul and maintain this monitoring well lid 200.
The embodiment of the present application further provides a storage medium, where the storage medium includes a stored program, and when the program runs, the device where the storage medium is located is controlled to execute the well lid monitoring method of the underground pipe network in the embodiment.
To sum up, the embodiment of the present application provides a well lid monitoring method, system, storage medium and server for an underground pipe network, and by receiving well lid data (including well lid vibration data, well lid displacement data and well lid inclination data) monitored by a monitoring device 120 on any monitoring well lid 200, and the well lid data carries a unique number of the monitoring well lid 200, a monitoring time point and a vehicle code of an associated vehicle (a vehicle when the monitoring well lid 200 is pressed at the monitoring time point), a second radio frequency sensing unit 131 is installed on a wheel of the associated vehicle, and the vehicle code can be transmitted to a first radio frequency sensing unit 124. Then, the real-time tire pressure when the associated vehicle presses the monitoring manhole cover 200 can be obtained based on the vehicle code, and whether the monitoring manhole cover 200 has hidden danger or not can be determined based on the manhole cover data and the real-time tire pressure. The well lid data and the real-time tire pressure when the vehicle presses the monitoring well lid 200 when the monitoring well lid 200 is monitored by the monitoring device 120 on the monitoring well lid 200, the well lid data and the real-time tire pressure when the vehicle presses the monitoring well lid 200 are jointly used as indexes for evaluating whether the hidden danger exists in the monitoring well lid 200, the well lid data can effectively reflect the problem of the well lid, the real-time tire pressure can reflect the condition when the wheel of the associated vehicle presses the monitoring well lid 200, the two are combined to judge whether the hidden danger exists in the monitoring well lid 200, the monitoring precision of the monitoring well lid 200 can be effectively improved, the well lid with the hidden danger can be timely found, so that the maintenance and the overhaul are carried out, the safety of pedestrians and vehicles can be better guaranteed, and the stability of an underground pipe network can be better guaranteed.
In the embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
In this document, relational terms such as first and second, and the like may be 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.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (8)

1. The utility model provides a well lid monitoring method of underground pipe network, characterized by, install monitoring devices on every monitoring well lid, every monitoring device includes sensor unit, main control unit, wireless communication unit and first radio frequency induction unit, the method includes:
receiving well lid data monitored by a monitoring device on any monitoring well lid, wherein the well lid data comprises well lid vibration data, well lid displacement data and well lid inclination angle data, the well lid data carries a unique number of the monitoring well lid, a monitoring time point and a vehicle code of a related vehicle, the related vehicle is a vehicle when the monitoring well lid is pressed at the monitoring time point, and a second radio frequency induction unit is arranged on a wheel of the related vehicle and can transmit the vehicle code to the first radio frequency induction unit;
acquiring real-time tire pressure when the associated vehicle presses the monitoring well lid based on the vehicle code;
determining whether hidden danger exists in the monitored well lid or not based on the well lid data and the real-time tire pressure;
wherein, based on the well lid data with real-time tire pressure, determine whether this monitoring well lid has hidden danger, include:
determining a maximum displacement value generated in the monitoring process based on the well lid displacement data, comparing the maximum displacement value with a set displacement distance, and determining that a first condition is met when the maximum displacement value reaches the set displacement distance;
determining a maximum inclination angle generated in the monitoring process based on the inclination angle data of the well lid, comparing the maximum inclination angle with a set inclination angle, and determining that a second condition is met when the maximum inclination angle reaches the set inclination angle;
preprocessing the well lid vibration data, then extracting features to obtain frequency domain features and time domain features, and determining a first risk index based on the frequency domain features and the time domain features; performing feature extraction after the real-time tire pressure is preprocessed to determine kurtosis features, and determining a second risk index based on the kurtosis features; determining a comprehensive risk index based on the first risk index and the second risk index, and determining that a third condition is met when the comprehensive risk index reaches a risk threshold;
when any one of the first condition, the second condition and the third condition is met, determining that the monitoring well lid has hidden danger, otherwise, determining that the monitoring well lid does not have hidden danger;
wherein, to carry out feature extraction after the real-time tire pressure is preprocessed, determine kurtosis features, include:
acquiring a reference tire pressure corresponding to the vehicle code; correcting the real-time tire pressure based on the reference tire pressure to obtain a fluctuating tire pressure; and extracting the characteristics of the fluctuating tire pressure to determine the kurtosis characteristics.
2. The method of monitoring a well lid of a subterranean pipe network of claim 1, wherein the frequency domain features comprise a center of gravity frequency and a frequency variance, the time domain features comprise a peak value and an average amplitude value, and determining a first risk index based on the frequency domain features and the time domain features comprises:
determining a first risk component based on the center of gravity frequency, a second risk component based on the frequency variance, a third risk component based on the peak value, and a fourth risk component based on the average amplitude value;
and performing weighted summation on the first risk component, the second risk component, the third risk component and the fourth risk component to determine the first risk index.
3. The method of claim 1, wherein determining a composite risk index based on the first risk index and the second risk index comprises:
judging whether the first risk index reaches a set index value or not;
if the first risk index reaches the set index value, assigning the comprehensive risk index to be the same as the risk threshold value;
and if the first risk index does not reach the set index value, carrying out weighted summation on the first risk index and the second risk index to obtain the comprehensive risk index.
4. The utility model provides a well lid monitoring system of underground pipe network which characterized in that includes:
the monitoring device comprises a plurality of monitoring devices, a plurality of sensors and a controller, wherein the monitoring devices are respectively arranged on a plurality of monitoring well covers with unique numbers, each monitoring device comprises a sensor unit, a main control unit, a wireless communication unit and a first radio frequency induction unit, and the sensor unit comprises a displacement sensor, an inclination sensor and a vibration sensor;
each vehicle is provided with a vehicle code and is provided with an automobile electronic control system, each wheel of each vehicle is provided with a second radio frequency induction unit, each wheel is also provided with a tire pressure sensor, and the second radio frequency induction unit of any vehicle can transmit the vehicle code of the vehicle to any first radio frequency induction unit;
a server for performing wireless communication with each monitoring device through a wireless communication unit of the monitoring device and wireless communication with each vehicle through an automobile electronic control system of the vehicle, respectively, wherein the server is used for executing the well lid monitoring method of the underground pipe network according to any one of claims 1 to 3.
5. The system of claim 4, wherein any one of the monitoring devices is configured to:
receiving vehicle codes transmitted by second radio frequency induction units of vehicles in an induction range through first radio frequency induction units, wherein the induction range of each first radio frequency induction unit can only induce the second radio frequency induction unit of one vehicle at the same time point;
judging whether the sensor unit is awakened or not in the current time period through the main control unit, wherein the current time period is a time period determined based on the time for transmitting the vehicle code; if the sensor unit is not awakened, clearing the received vehicle code; if the sensor unit is awakened, after the well lid data monitored by the sensor unit is received, the received vehicle code is associated with the well lid data, and the well lid data is associated with the unique number and the monitoring time point of the monitored well lid and then is sent to the server through the wireless communication unit.
6. The system of claim 5, wherein any vehicle is configured to:
transmitting the vehicle code of the vehicle to a first radio frequency induction unit existing in the induction range of the second radio frequency induction unit through the second radio frequency induction unit;
and after receiving a feedback signal, sending real-time tire pressure detected by a tire pressure sensor on a wheel where the second radio frequency induction unit is located in a target time period to the server through an automobile electronic control system, wherein the feedback signal is a signal returned by the first radio frequency induction unit after receiving a vehicle code transmitted by the second radio frequency induction unit, the target time period is a time period determined based on the time for transmitting the vehicle code, and the target time period can cover the current time period.
7. A storage medium, characterized in that the storage medium comprises a stored program, wherein when the program runs, the device where the storage medium is located is controlled to execute the well lid monitoring method of the underground pipe network according to any one of claims 1 to 3.
8. A server, comprising a memory for storing information comprising program instructions and a processor for controlling the execution of the program instructions, the program instructions being loaded and executed by the processor to implement the method of manhole cover monitoring of a subterranean network according to any of claims 1 to 3.
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