CN117685928A - Road and bridge subsides remote monitoring system - Google Patents
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Abstract
The invention relates to the field of roads and bridges, in particular to a road and bridge settlement remote monitoring system, which solves the problems that in the prior art, various sensors are adopted to detect the displacement of key points on a bridge, so that the settlement of the bridge road is detected, the detection is easy to be blocked by obstacles or influenced by weather, the detection precision is low, the detection is easy to be interfered, the position of the key points on the bridge road is monitored, the whole state of the bridge cannot be detected, and the detection result is not comprehensive and accurate enough. The application comprises a data monitoring module and a data processing module; according to the method, the coordinates of the bridge key points are detected by using the satellite positioning method, the inclination angles of the bridge key points are detected by using the gyroscope accelerometer, and the bridge is modeled and analyzed, so that the whole state of the bridge can be accurately and comprehensively monitored according to the settlement of the bridge, and the safety is higher.
Description
Technical Field
The invention relates to the field of roads and bridges, in particular to a road and bridge settlement remote monitoring system.
Background
Modern technology makes it possible for the road bridge sedimentation remote monitoring system; the main purpose of the system is to monitor the settlement of the bridge in real time so as to discover potential problems in advance and take necessary measures; by using the sensor and the data transmission technology, real-time data can be received and analyzed remotely at a monitoring center of the system; once the abnormal condition of bridge settlement is found, the monitoring center immediately takes action, and dispatches staff to go to the site for inspection and repair; the remote monitoring system not only improves the safety of the bridge, but also reduces the waste of human resources and the maintenance cost; by timely responding to the problems, the situation that traffic jam and accidents possibly occur can be prevented; based on the advantages, the road and bridge settlement remote monitoring system is widely applied in the field of construction and gradually becomes an indispensable component part; the effect and the importance of the road and bridge settlement monitoring system are not negligible; the system can timely detect the settlement of the road and bridge, help us to timely find and solve the problems, and ensure the safe operation of the road and bridge; by installing the sensor and the data collection equipment, the system can monitor the settlement of the bridge in real time and transmit the collected data to a central processing center for analysis; therefore, the settlement condition of the road and the bridge can be known, and corresponding maintenance and reinforcement measures can be adopted according to the change condition of the data; meanwhile, the system can also predict the future sedimentation trend of the bridge, and help us to make effective decisions; in a word, the road and bridge settlement monitoring system is an important tool for ensuring the safety of roads and bridges and ensuring smooth traffic; when the settlement of the road and the bridge is monitored, various sensors are adopted to detect the displacement of the key points on the bridge so as to detect the settlement of the bridge road, the detection method is easy to block by obstacles or influence by weather during detection, or has low detection precision and easy to be interfered, the position of the key points on the bridge road is monitored, the whole state of the bridge cannot be detected, and the detection result is not comprehensive and accurate enough.
Disclosure of Invention
In order to overcome the problems that when settlement of roads and bridges is monitored, various sensors are adopted to detect displacement of key points on the bridges so as to detect settlement of the bridges, the detection method is easy to block by obstacles or influence by weather during detection, or is low in detection precision and easy to interfere, and the positions of the key points on the bridges are monitored, so that the whole state of the bridges cannot be detected, and the detection result is not comprehensive and accurate enough.
The technical scheme of the invention is as follows: a road and bridge sedimentation remote monitoring system comprises:
the data monitoring module is used for monitoring the real-time state of the road and bridge by utilizing a plurality of groups of data monitoring terminals and collecting the settlement displacement variation and inclination value data of the monitoring points where the data monitoring terminals are located, namely the coordinate information of the monitoring points where the data monitoring terminals are located;
the data comparison module is used for comparing and judging the correctness and the accuracy of the coordinate information of the monitoring points where the monitoring data monitoring terminals are located, which are acquired by the data monitoring module, according to the installation positions and the coordinates of the plurality of groups of data monitoring terminals;
the data transmission module is used for transmitting the settlement displacement variable quantity and the inclination angle value data of the monitoring point where the data monitoring terminal is located, which are acquired by the data monitoring module, to the data processing module; the data transmitted by the data transmission module is compared and judged by the data comparison module;
the data processing module is used for processing the settlement displacement variation and the inclination value data of the monitoring points where the data monitoring terminal is located, which are transmitted by the data transmission module, converting the settlement displacement variation and the inclination value data of the monitoring points into model coordinates, and establishing a simulated three-dimensional model of the monitored road and bridge;
the data analysis module is used for analyzing the settlement deformation of the bridge according to the simulated three-dimensional model of the road bridge, sending an alarm when the data is abnormal and notifying workers;
the database is used for storing the design information of the road bridge and the historical monitoring information of the road bridge; the design information of the road bridge comprises a settlement maximum value which can be born by the road bridge and installation position and coordinate information of a plurality of data monitoring terminals.
Preferably, the data comparison module is used for comparing and judging the correctness and the accuracy of the coordinate information of the monitoring point where the monitoring data monitoring terminal is located, which is acquired by the data monitoring module, according to the installation positions and the coordinates of the data monitoring terminals, so that the situation that the final analysis result is inaccurate, false alarm occurs or sedimentation cannot be early-warned due to inaccurate measurement data measured by the data monitoring module caused by bad weather, circuit problems and other external reasons can be avoided.
Further, the data monitoring module comprises a plurality of groups of data monitoring terminals; the data monitoring terminal comprises a data monitoring reference end and a data monitoring end, wherein the data monitoring reference end comprises a reference end antenna, a reference end satellite positioning module, a reference end main control module and a reference end wireless transmission module, and the data monitoring end comprises a monitoring end antenna, a monitoring end satellite positioning module, a monitoring end main control module, a gesture measuring module and a monitoring end wireless transmission module.
Further, the reference end antenna is used for enhancing signals of the reference end satellite positioning module, the reference end satellite positioning module is used for being matched with the monitoring end satellite positioning module to carry out satellite positioning on the data monitoring end, the reference end main control module is used for controlling the reference end satellite positioning module and the reference end wireless transmission module, the reference end wireless transmission module is used for being matched with the monitoring end wireless transmission module to complete data transmission between the data monitoring reference end and the data monitoring end, the data monitoring end comprises a monitoring end antenna used for enhancing signals of the monitoring end satellite positioning module, the monitoring end main control module is used for controlling the monitoring end satellite positioning module, the attitude measurement module and the monitoring end wireless transmission module, and the attitude measurement module is used for measuring an inclination angle of a monitoring point where the data monitoring end is located.
Further, when the monitoring end satellite positioning module and the reference end satellite positioning module are utilized to position the data monitoring end, the method comprises the following steps:
s11: calculating the distance and direction from the monitoring end satellite positioning module to the satellite and the distance and direction from the reference end satellite positioning module to the satellite according to the pseudo-range information and the carrier phase information;
s12: the satellite clock difference in the distance and the direction from the monitoring end satellite positioning module to the satellite and the distance and the direction from the reference end satellite positioning module to the satellite is eliminated through a differential combination technology;
s13: adding a plurality of trackable satellite signals, and eliminating the clock difference of a parameter receiver in the distance and the direction from the monitoring-end satellite positioning module to the satellite and the distance and the direction from the reference-end satellite positioning module to the satellite;
s14: and calculating the coordinate difference between the monitoring point where the data monitoring end is positioned and the data monitoring reference end according to the calculated distance and direction between the monitoring end satellite positioning module and the satellite and the calculated distance and direction between the reference end satellite positioning module and the satellite.
Preferably, the method for detecting the settlement of the bridge road through various sensors is easy to block by barriers or influence by weather during detection, or is low in detection precision and easy to interfere, intelligent monitoring can be realized by adopting a high-precision differential detection technology, settlement displacement data of monitoring points can be directly obtained, and the influence of weather and environment is small, so that the settlement data of the bridge can be obtained more intuitively and accurately, and the precision meets the precision requirement of settlement measurement.
Further, in the data monitoring end, a satellite positioning module of the monitoring end adopts a U-BLOX-ZED-F9P chip as a positioning chip, a gesture measuring module adopts a gyroscope accelerometer, the gyroscope accelerometer adopts an MPU6050 chip as a signal acquisition chip, a wireless communication module of the monitoring end adopts a E34.2G4H27D chip and adopts an RTCM communication protocol, and a master control module of the monitoring end adopts an STM32L451RC master control chip; in the data monitoring reference terminal, a reference terminal satellite positioning module adopts a U-BLOX-ZED-F9P chip as a positioning chip, a reference terminal wireless communication module adopts a E34.2G4H27D chip and adopts an RTCM communication protocol, and a reference terminal main control module adopts an STM32L451RC main control chip.
Further, when the data monitoring terminal in the data monitoring terminal is installed, the data monitoring terminal is numbered according to city information of a monitoring point where the data monitoring terminal is located, connected data monitoring reference terminal information, bridge road information and self-position information, wherein the city information of the monitoring point where the data monitoring terminal is located comprises codes 01 to 99, the connected data monitoring reference terminal information comprises codes 01 to 99, and the bridge road information and self-position information comprise codes A01 to Z99.
Preferably, the positions of the monitoring points can be clearly distinguished by encoding the monitoring points, and when the settlement displacement of the bridge road exceeds a threshold value and an alarm occurs, the target site can be quickly locked, so that traffic departments can be quickly informed to block and control the bridge road or a part of the area of the bridge road, and bridge road management personnel can be dispatched to maintain and manage the bridge road, thereby reducing the probability of danger.
Further, when the data comparison module compares and judges the correctness and accuracy of the coordinate information of the monitoring point where the monitoring data monitoring terminal is located, which is acquired by the data monitoring module, according to the installation positions and coordinates of the plurality of groups of data monitoring terminals, the data comparison module comprises the following steps:
s21: acquiring coordinate information of all data monitoring reference ends, and corresponding the coordinate information to the coordinates of the monitoring points where the obtained data monitoring ends are located;
s22: calculating the coordinate of the monitoring point of each data monitoring end and comparing the coordinate data in the last measurement or original design data, wherein the abscissa, the ordinate and the vertical coordinate are respectively compared singly, when the difference is larger than a set threshold value, the error of the group of data is judged, and then the coordinate comparison is carried out according to the abscissa, the ordinate and the vertical coordinate, when the difference is larger than the set threshold value, the error of the reorganized data is judged;
s23: and after judging that the group of data is in error, commanding the data monitoring terminal to carry out data acquisition again, and carrying out alarm and notifying staff when the difference is always greater than a set threshold value when the data acquisition is repeated for more than three times.
Further, the data transmission module adopts CRC data check when transmitting the settlement displacement variable quantity and the inclination value data of the monitoring point where the data monitoring terminal is located, which are acquired by the data monitoring module, to the data processing module, wherein the CRC data check comprises the following steps:
s31: converting hexadecimal transmission information into binary codes;
s32: adding 15 0 s after the binary transmission information, performing modulo-2 division on the new frame 1100000000000101 after adding, and adding the remainder to the binary transmission information to serve as a check code;
s33: after the new frame added with the check code is sent to the data processing module, the received data is divided by 1100000000000101 on the data processing module, if no remainder is generated, the transmission process is normal, and if the remainder indicates that errors exist in the transmitted data.
Preferably, in the data transmission, various noise interferences exist at any time, so that the transmission data is influenced to generate errors, and in order to avoid the occurrence of false alarm caused by the errors of the data transmission of the bridge settlement monitoring system, a reasonable checking algorithm is required to be selected; the common verification mode is parity check, namely the algorithm is verified by the fact that the data in the code is odd or even, but the error rate is higher; the other checksum algorithm also has the problems, so that a CRC (cyclic redundancy check) mode is adopted in the communication protocol coding of the bridge settlement monitoring system so as to avoid the occurrence of information disorder; the CRC checking speed is high, the checking effect is good, and the hardware circuit is simple to realize; has great advantages in the aspects of speed, effect, technical difficulty, cost and the like of error detection.
Further, when the data processing module processes the settlement displacement variation and the inclination value data of the monitoring point where the data monitoring terminal is located, which are acquired by the data monitoring module transmitted by the data transmission module, the settlement displacement variation and the inclination value data of the monitoring point are converted into model coordinates, and a simulated three-dimensional model of the monitored road and bridge is built, the method comprises the following steps:
s41: establishing a three-dimensional coordinate system, selecting one data monitoring reference end as an origin, and inputting the coordinate information of the rest data monitoring reference ends into the three-dimensional coordinate system according to the design information of the road bridge;
s42: filling the monitoring point where the data monitoring end is located into a three-dimensional coordinate system according to the coordinate difference between the monitoring point where the data monitoring end is located and the data monitoring reference end;
s43: generating a pre-simulation plane at a monitoring point of a three-dimensional coordinate system according to the inclination angle information of the monitoring point where the data monitoring end is positioned, which is measured by the gesture measuring module;
s44: cutting the pre-simulation plane according to the width of the bridge road and the position of the monitoring point where the data monitoring end is positioned on the bridge road, cutting off the redundant parts of the pre-simulation planes according to the intersecting condition of a plurality of pre-simulation planes, and connecting the rest pre-simulation planes to form a bridge simulation plane;
s45: and smoothing the bridge simulation plane subjected to the cutting treatment by adopting Laplacian smoothing to obtain a bridge settlement simulation model.
Preferably, compared with the prior art, the method for detecting the displacement of the key points on the bridge by adopting various sensors is adopted, so that the settlement of the bridge road is detected, the method is easily blocked by obstacles or influenced by weather, or the detection precision is low, the method is easily interfered, the position of the key points on the bridge road is monitored, the whole state of the bridge cannot be detected, and the detection result is not comprehensive and accurate enough; the system detects the coordinates of the bridge key points by using a satellite positioning method, detects the inclination angles of the bridge key points by using a gyroscope accelerometer, and then carries out modeling analysis on the bridge.
Further, when the data analysis module analyzes sedimentation deformation of the bridge according to the simulated three-dimensional model of the road bridge, the method comprises the following steps:
s51: comparing the coordinate data of each monitoring point of the bridge road with the last monitoring data, and alarming if the coordinate data exceeds a threshold value;
s52: comparing the coordinate data of each monitoring point of the bridge road with the installation position and the coordinate information of each data monitoring terminal, and alarming when the coordinate data exceeds a threshold value;
s53: comparing the inclination angle data of each monitoring point of the bridge road with the last monitoring data, and alarming if the inclination angle data exceeds a threshold value;
s54: comparing the inclination angle data of each monitoring point of the bridge road with the installation position and coordinate information of each data monitoring terminal, and alarming if the inclination angle data exceeds a threshold value;
s55: comparing the inclination angles of all the positions of the bridge according to the bridge settlement simulation model, and if the inclination angles are larger than the set threshold value, alarming to inform workers.
The invention has the beneficial effects that:
1. compared with the prior art, the method for detecting the displacement of the key points on the bridge by adopting various sensors is easy to block by barriers or influence by weather during detection, or is low in detection precision and easy to interfere, the positions of the key points on the bridge are monitored, the whole state of the bridge cannot be detected, and the detection result is not comprehensive and accurate enough; the system detects the coordinates of the bridge key points by using a satellite positioning method, detects the inclination angles of the bridge key points by using a gyroscope accelerometer, and performs modeling analysis on the bridge, so that the whole state of the bridge can be accurately and comprehensively monitored according to the settlement of the bridge, and the safety is higher;
2. the settlement of the bridge road is detected by various sensors, and the settlement of the bridge road is easily blocked by obstacles or influenced by weather, or is low in detection precision and easy to interfere, intelligent monitoring can be realized by adopting a high-precision differential detection technology, settlement displacement data of monitoring points can be directly obtained, and the settlement displacement data of the bridge can be obtained more intuitively and accurately due to small influence of weather and environment, and the precision meets the precision requirement of settlement measurement;
3. the data comparison module is arranged to compare and judge the correctness and accuracy of the coordinate information of the monitoring points where the monitoring data monitoring terminals are located, which are acquired by the data monitoring module, according to the installation positions and coordinates of the data monitoring terminals, so that the situation that the final analysis result is inaccurate, false alarm occurs or sedimentation cannot be early-warned due to inaccurate measurement data measured by the data monitoring module caused by bad weather, circuit problems and other external reasons can be avoided;
4. in data transmission, various noise interferences exist at any time, so that transmission data are influenced to generate errors, and in order to avoid error occurrence of data transmission of a bridge settlement monitoring system and false alarm occurrence, a reasonable verification algorithm is required to be selected; the common verification mode is parity check, namely the algorithm is verified by the fact that the data in the code is odd or even, but the error rate is higher; the other checksum algorithm also has the problems, so that a CRC (cyclic redundancy check) mode is adopted in the communication protocol coding of the bridge settlement monitoring system so as to avoid the occurrence of information disorder; the CRC checking speed is high, the checking effect is good, and the hardware circuit is simple to realize; the method has great advantages in the aspects of speed, effect, technical difficulty, cost and the like of error detection;
5. the positions of the monitoring points can be clearly distinguished through encoding the monitoring points, when the settlement displacement of the bridge road exceeds a threshold value and an alarm occurs, the target site can be quickly locked, thereby a traffic department can be quickly informed to block and control the bridge road or a part of the area of the bridge road, and bridge road management personnel can be dispatched to maintain and manage the bridge road, so that the probability of danger occurrence is reduced.
Drawings
FIG. 1 shows a schematic construction diagram of a road and bridge settlement remote monitoring system according to the present invention;
FIG. 2 is a schematic flow chart of a data processing module in the road and bridge settlement remote monitoring system for processing data of the data monitoring module according to the present invention;
FIG. 3 is a schematic flow chart of a data analysis module in the road and bridge settlement remote monitoring system for analyzing the settlement deformation of the bridge;
Detailed Description
The invention is further described below with reference to the drawings and examples.
Referring to fig. 1, the present invention provides an embodiment: the utility model provides a road and bridge subsides remote monitoring system, including:
the data monitoring module is used for monitoring the real-time state of the road and bridge by utilizing a plurality of groups of data monitoring terminals and collecting the settlement displacement variation and inclination value data of the monitoring points where the data monitoring terminals are located, namely the coordinate information of the monitoring points where the data monitoring terminals are located;
the data comparison module is used for comparing and judging the correctness and the accuracy of the coordinate information of the monitoring points where the monitoring data monitoring terminals are located, which are acquired by the data monitoring module, according to the installation positions and the coordinates of the plurality of groups of data monitoring terminals;
the data transmission module is used for transmitting the settlement displacement variable quantity and the inclination angle value data of the monitoring point where the data monitoring terminal is located, which are acquired by the data monitoring module, to the data processing module; the data transmitted by the data transmission module is compared and judged by the data comparison module;
the data processing module is used for processing the settlement displacement variation and the inclination value data of the monitoring points where the data monitoring terminal is located, which are transmitted by the data transmission module, converting the settlement displacement variation and the inclination value data of the monitoring points into model coordinates, and establishing a simulated three-dimensional model of the monitored road and bridge;
the data analysis module is used for analyzing the settlement deformation of the bridge according to the simulated three-dimensional model of the road bridge, sending an alarm when the data is abnormal and notifying workers;
the database is used for storing the design information of the road bridge and the historical monitoring information of the road bridge; the design information of the road bridge comprises a settlement maximum value which can be born by the road bridge and installation position and coordinate information of a plurality of data monitoring terminals.
Preferably, the data comparison module is used for comparing and judging the correctness and the accuracy of the coordinate information of the monitoring point where the monitoring data monitoring terminal is located, which is acquired by the data monitoring module, according to the installation positions and the coordinates of the data monitoring terminals, so that the situation that the final analysis result is inaccurate, false alarm occurs or sedimentation cannot be early-warned due to inaccurate measurement data measured by the data monitoring module caused by bad weather, circuit problems and other external reasons can be avoided.
Further, the data monitoring module comprises a plurality of groups of data monitoring terminals; the data monitoring terminal comprises a data monitoring reference end and a data monitoring end, wherein the data monitoring reference end comprises a reference end antenna, a reference end satellite positioning module, a reference end main control module and a reference end wireless transmission module, and the data monitoring end comprises a monitoring end antenna, a monitoring end satellite positioning module, a monitoring end main control module, a gesture measuring module and a monitoring end wireless transmission module.
Further, the reference end antenna is used for enhancing signals of the reference end satellite positioning module, the reference end satellite positioning module is used for being matched with the monitoring end satellite positioning module to carry out satellite positioning on the data monitoring end, the reference end main control module is used for controlling the reference end satellite positioning module and the reference end wireless transmission module, the reference end wireless transmission module is used for being matched with the monitoring end wireless transmission module to complete data transmission between the data monitoring reference end and the data monitoring end, the data monitoring end comprises a monitoring end antenna used for enhancing signals of the monitoring end satellite positioning module, the monitoring end main control module is used for controlling the monitoring end satellite positioning module, the attitude measurement module and the monitoring end wireless transmission module, and the attitude measurement module is used for measuring an inclination angle of a monitoring point where the data monitoring end is located.
Further, when the monitoring end satellite positioning module and the reference end satellite positioning module are utilized to position the data monitoring end, the method comprises the following steps:
s11: calculating the distance and direction from the monitoring end satellite positioning module to the satellite and the distance and direction from the reference end satellite positioning module to the satellite according to the pseudo-range information and the carrier phase information;
s12: the satellite clock difference in the distance and the direction from the monitoring end satellite positioning module to the satellite and the distance and the direction from the reference end satellite positioning module to the satellite is eliminated through a differential combination technology;
s13: adding a plurality of trackable satellite signals, and eliminating the clock difference of a parameter receiver in the distance and the direction from the monitoring-end satellite positioning module to the satellite and the distance and the direction from the reference-end satellite positioning module to the satellite;
s14: and calculating the coordinate difference between the monitoring point where the data monitoring end is positioned and the data monitoring reference end according to the calculated distance and direction between the monitoring end satellite positioning module and the satellite and the calculated distance and direction between the reference end satellite positioning module and the satellite.
Preferably, the method for detecting the settlement of the bridge road through various sensors is easy to block by barriers or influence by weather during detection, or is low in detection precision and easy to interfere, intelligent monitoring can be realized by adopting a high-precision differential detection technology, settlement displacement data of monitoring points can be directly obtained, and the influence of weather and environment is small, so that the settlement data of the bridge can be obtained more intuitively and accurately, and the precision meets the precision requirement of settlement measurement.
Further, in the data monitoring end, a satellite positioning module of the monitoring end adopts a U-BLOX-ZED-F9P chip as a positioning chip, a gesture measuring module adopts a gyroscope accelerometer, the gyroscope accelerometer adopts an MPU6050 chip as a signal acquisition chip, a wireless communication module of the monitoring end adopts a E34.2G4H27D chip and adopts an RTCM communication protocol, and a master control module of the monitoring end adopts an STM32L451RC master control chip; in the data monitoring reference terminal, a reference terminal satellite positioning module adopts a U-BLOX-ZED-F9P chip as a positioning chip, a reference terminal wireless communication module adopts a E34.2G4H27D chip and adopts an RTCM communication protocol, and a reference terminal main control module adopts an STM32L451RC main control chip.
Further, when the data monitoring terminal in the data monitoring terminal is installed, the data monitoring terminal is numbered according to city information of a monitoring point where the data monitoring terminal is located, connected data monitoring reference terminal information, bridge road information and self-position information, wherein the city information of the monitoring point where the data monitoring terminal is located comprises codes 01 to 99, the connected data monitoring reference terminal information comprises codes 01 to 99, and the bridge road information and self-position information comprise codes A01 to Z99.
Preferably, the positions of the monitoring points can be clearly distinguished by encoding the monitoring points, and when the settlement displacement of the bridge road exceeds a threshold value and an alarm occurs, the target site can be quickly locked, so that traffic departments can be quickly informed to block and control the bridge road or a part of the area of the bridge road, and bridge road management personnel can be dispatched to maintain and manage the bridge road, thereby reducing the probability of danger.
Further, when the data comparison module compares and judges the correctness and accuracy of the coordinate information of the monitoring point where the monitoring data monitoring terminal is located, which is acquired by the data monitoring module, according to the installation positions and coordinates of the plurality of groups of data monitoring terminals, the data comparison module comprises the following steps:
s21: acquiring coordinate information of all data monitoring reference ends, and corresponding the coordinate information to the coordinates of the monitoring points where the obtained data monitoring ends are located;
s22: calculating the coordinate of the monitoring point of each data monitoring end and comparing the coordinate data in the last measurement or original design data, wherein the abscissa, the ordinate and the vertical coordinate are respectively compared singly, when the difference is larger than a set threshold value, the error of the group of data is judged, and then the coordinate comparison is carried out according to the abscissa, the ordinate and the vertical coordinate, when the difference is larger than the set threshold value, the error of the reorganized data is judged;
s23: and after judging that the group of data is in error, commanding the data monitoring terminal to carry out data acquisition again, and carrying out alarm and notifying staff when the difference is always greater than a set threshold value when the data acquisition is repeated for more than three times.
Further, the data transmission module adopts CRC data check when transmitting the settlement displacement variable quantity and the inclination value data of the monitoring point where the data monitoring terminal is located, which are acquired by the data monitoring module, to the data processing module, wherein the CRC data check comprises the following steps:
s31: converting hexadecimal transmission information into binary codes;
s32: adding 15 0 s after the binary transmission information, performing modulo-2 division on the new frame 1100000000000101 after adding, and adding the remainder to the binary transmission information to serve as a check code;
s33: after the new frame added with the check code is sent to the data processing module, the received data is divided by 1100000000000101 on the data processing module, if no remainder is generated, the transmission process is normal, and if the remainder indicates that errors exist in the transmitted data.
Preferably, in the data transmission, various noise interferences exist at any time, so that the transmission data is influenced to generate errors, and in order to avoid the occurrence of false alarm caused by the errors of the data transmission of the bridge settlement monitoring system, a reasonable checking algorithm is required to be selected; the common verification mode is parity check, namely the algorithm is verified by the fact that the data in the code is odd or even, but the error rate is higher; the other checksum algorithm also has the problems, so that a CRC (cyclic redundancy check) mode is adopted in the communication protocol coding of the bridge settlement monitoring system so as to avoid the occurrence of information disorder; the CRC checking speed is high, the checking effect is good, and the hardware circuit is simple to realize; has great advantages in the aspects of speed, effect, technical difficulty, cost and the like of error detection.
Referring to fig. 2-3, in this embodiment, when the data processing module processes the settlement displacement variation and the inclination value data of the monitoring point where the data monitoring terminal is located, which are acquired by the data monitoring module transmitted by the data transmission module, the settlement displacement variation and the inclination value data of the monitoring point are converted into model coordinates, and a simulated three-dimensional model of the monitored road and bridge is built, the method includes the following steps:
s41: establishing a three-dimensional coordinate system, selecting one data monitoring reference end as an origin, and inputting the coordinate information of the rest data monitoring reference ends into the three-dimensional coordinate system according to the design information of the road bridge;
s42: filling the monitoring point where the data monitoring end is located into a three-dimensional coordinate system according to the coordinate difference between the monitoring point where the data monitoring end is located and the data monitoring reference end;
s43: generating a pre-simulation plane at a monitoring point of a three-dimensional coordinate system according to the inclination angle information of the monitoring point where the data monitoring end is positioned, which is measured by the gesture measuring module;
s44: cutting the pre-simulation plane according to the width of the bridge road and the position of the monitoring point where the data monitoring end is positioned on the bridge road, cutting off the redundant parts of the pre-simulation planes according to the intersecting condition of a plurality of pre-simulation planes, and connecting the rest pre-simulation planes to form a bridge simulation plane;
s45: and smoothing the bridge simulation plane subjected to the cutting treatment by adopting Laplacian smoothing to obtain a bridge settlement simulation model.
Preferably, compared with the prior art, the method for detecting the displacement of the key points on the bridge by adopting various sensors is adopted, so that the settlement of the bridge road is detected, the method is easily blocked by obstacles or influenced by weather, or the detection precision is low, the method is easily interfered, the position of the key points on the bridge road is monitored, the whole state of the bridge cannot be detected, and the detection result is not comprehensive and accurate enough; the system detects the coordinates of the bridge key points by using a satellite positioning method, detects the inclination angles of the bridge key points by using a gyroscope accelerometer, and then carries out modeling analysis on the bridge.
Further, when the data analysis module analyzes sedimentation deformation of the bridge according to the simulated three-dimensional model of the road bridge, the method comprises the following steps:
s51: comparing the coordinate data of each monitoring point of the bridge road with the last monitoring data, and alarming if the coordinate data exceeds a threshold value;
s52: comparing the coordinate data of each monitoring point of the bridge road with the installation position and the coordinate information of each data monitoring terminal, and alarming when the coordinate data exceeds a threshold value;
s53: comparing the inclination angle data of each monitoring point of the bridge road with the last monitoring data, and alarming if the inclination angle data exceeds a threshold value;
s54: comparing the inclination angle data of each monitoring point of the bridge road with the installation position and coordinate information of each data monitoring terminal, and alarming if the inclination angle data exceeds a threshold value;
s55: comparing the inclination angles of all the positions of the bridge according to the bridge settlement simulation model, and if the inclination angles are larger than the set threshold value, alarming to inform workers.
Through the steps, compared with the prior art, the method for detecting the settlement of the bridge road by adopting various sensors to detect the displacement of the key points on the bridge is easy to be blocked by obstacles or influenced by weather, or is low in detection precision and easy to be interfered, and the position of the key points on the bridge road is monitored, so that the whole state of the bridge cannot be detected, and the detection result is not comprehensive and accurate enough; the system detects the coordinates of the bridge key points by using a satellite positioning method, detects the inclination angles of the bridge key points by using a gyroscope accelerometer, and then carries out modeling analysis on the bridge.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. A road and bridge settlement remote monitoring system; the method is characterized by comprising the following steps:
the data monitoring module is used for monitoring the real-time state of the road and bridge by utilizing a plurality of groups of data monitoring terminals and collecting the settlement displacement variation and inclination value data of the monitoring points where the data monitoring terminals are located, namely the coordinate information of the monitoring points where the data monitoring terminals are located;
the data comparison module is used for comparing and judging the correctness and the accuracy of the coordinate information of the monitoring points where the monitoring data monitoring terminals are located, which are acquired by the data monitoring module, according to the installation positions and the coordinates of the plurality of groups of data monitoring terminals;
the data transmission module is used for transmitting the settlement displacement variable quantity and the inclination angle value data of the monitoring point where the data monitoring terminal is located, which are acquired by the data monitoring module, to the data processing module; the data transmitted by the data transmission module is compared and judged by the data comparison module;
the data processing module is used for processing the settlement displacement variation and the inclination value data of the monitoring points where the data monitoring terminal is located, which are transmitted by the data transmission module, converting the settlement displacement variation and the inclination value data of the monitoring points into model coordinates, and establishing a simulated three-dimensional model of the monitored road and bridge;
the data analysis module is used for analyzing the settlement deformation of the bridge according to the simulated three-dimensional model of the road bridge, sending an alarm when the data is abnormal and notifying workers;
the database is used for storing the design information of the road bridge and the historical monitoring information of the road bridge; the design information of the road bridge comprises a settlement maximum value which can be born by the road bridge and installation position and coordinate information of a plurality of data monitoring terminals.
2. The road and bridge settlement remote monitoring system according to claim 1, wherein the data monitoring module comprises a plurality of groups of data monitoring terminals; the data monitoring terminal comprises a data monitoring reference end and a data monitoring end, wherein the data monitoring reference end comprises a reference end antenna, a reference end satellite positioning module, a reference end main control module and a reference end wireless transmission module, and the data monitoring end comprises a monitoring end antenna, a monitoring end satellite positioning module, a monitoring end main control module, a gesture measuring module and a monitoring end wireless transmission module.
3. The road and bridge settlement remote monitoring system according to claim 2, wherein the reference end antenna is used for enhancing signals of the reference end satellite positioning module, the reference end satellite positioning module is used for being matched with the monitoring end satellite positioning module to perform satellite positioning on the data monitoring end, the reference end main control module is used for controlling the reference end satellite positioning module and the reference end wireless transmission module, the reference end wireless transmission module is used for being matched with the monitoring end wireless transmission module to complete data transmission between the data monitoring reference end and the data monitoring end, the data monitoring end comprises a monitoring end antenna for enhancing signals of the monitoring end satellite positioning module, the monitoring end main control module is used for controlling the monitoring end satellite positioning module, the attitude measurement module and the monitoring end wireless transmission module, and the attitude measurement module is used for measuring an inclination angle of a monitoring point where the data monitoring end is located.
4. A road and bridge settlement remote monitoring system according to claim 3, wherein when the data monitoring terminal is positioned by the monitoring terminal satellite positioning module and the reference terminal satellite positioning module, the method comprises the following steps:
s11: calculating the distance and direction from the monitoring end satellite positioning module to the satellite and the distance and direction from the reference end satellite positioning module to the satellite according to the pseudo-range information and the carrier phase information;
s12: the satellite clock difference in the distance and the direction from the monitoring end satellite positioning module to the satellite and the distance and the direction from the reference end satellite positioning module to the satellite is eliminated through a differential combination technology;
s13: adding a plurality of trackable satellite signals, and eliminating the clock difference of a parameter receiver in the distance and the direction from the monitoring-end satellite positioning module to the satellite and the distance and the direction from the reference-end satellite positioning module to the satellite;
s14: and calculating the coordinate difference between the monitoring point where the data monitoring end is positioned and the data monitoring reference end according to the calculated distance and direction between the monitoring end satellite positioning module and the satellite and the calculated distance and direction between the reference end satellite positioning module and the satellite.
5. The road and bridge settlement remote monitoring system according to claim 4, wherein in the data monitoring end, a satellite positioning module at the monitoring end adopts a U-BLOX-ZED-F9P chip as a positioning chip, a gyroscope accelerometer is adopted as an attitude measurement module, the gyroscope accelerometer adopts an MPU6050 chip as a signal acquisition chip, a wireless communication module at the monitoring end adopts a E34.2G4H27D chip and adopts an RTCM communication protocol, and a master control module at the monitoring end adopts an STM32L451RC master control chip; in the data monitoring reference terminal, a reference terminal satellite positioning module adopts a U-BLOX-ZED-F9P chip as a positioning chip, a reference terminal wireless communication module adopts a E34.2G4H27D chip and adopts an RTCM communication protocol, and a reference terminal main control module adopts an STM32L451RC main control chip.
6. The remote monitoring system for road and bridge settlement according to claim 5, wherein when the data monitoring terminal is installed, the data monitoring terminal is numbered according to city information of a monitoring point where the data monitoring terminal is located, connected data monitoring reference terminal information, bridge road information and self-position information, wherein the city information of the monitoring point where the data monitoring terminal is located comprises codes 01 to 99, the connected data monitoring reference terminal information comprises codes 01 to 99, and the bridge road information and self-position information comprise codes A01 to Z99.
7. The remote monitoring system for road and bridge settlement according to claim 6, wherein when the data comparison module compares and judges the correctness and accuracy of the coordinate information of the monitoring points where the monitoring data monitoring terminals are located acquired by the data monitoring module according to the installation positions and coordinates of the plurality of groups of data monitoring terminals, the remote monitoring system comprises the following steps:
s21: acquiring coordinate information of all data monitoring reference ends, and corresponding the coordinate information to the coordinates of the monitoring points where the obtained data monitoring ends are located;
s22: calculating the coordinate of the monitoring point of each data monitoring end and comparing the coordinate data in the last measurement or original design data, wherein the abscissa, the ordinate and the vertical coordinate are respectively compared singly, when the difference is larger than a set threshold value, the error of the group of data is judged, and then the coordinate comparison is carried out according to the abscissa, the ordinate and the vertical coordinate, when the difference is larger than the set threshold value, the error of the reorganized data is judged;
s23: and after judging that the group of data is in error, commanding the data monitoring terminal to carry out data acquisition again, and carrying out alarm and notifying staff when the difference is always greater than a set threshold value when the data acquisition is repeated for more than three times.
8. The road and bridge settlement remote monitoring system according to claim 7, wherein the data transmission module adopts CRC data check when transmitting settlement displacement variation and inclination value data of the monitoring point where the data monitoring terminal is located, which are collected by the data monitoring module, to the data processing module, wherein the CRC data check comprises the following steps:
s31: converting hexadecimal transmission information into binary codes;
s32: adding 15 0 s after the binary transmission information, performing modulo-2 division on the new frame 1100000000000101 after adding, and adding the remainder to the binary transmission information to serve as a check code;
s33: after the new frame added with the check code is sent to the data processing module, the received data is divided by 1100000000000101 on the data processing module, if no remainder is generated, the transmission process is normal, and if the remainder indicates that errors exist in the transmitted data.
9. The road and bridge settlement remote monitoring system according to claim 8, wherein when the data processing module processes settlement displacement variation and inclination value data of the monitoring point where the data monitoring terminal is located, which are acquired by the data monitoring module and transmitted by the data transmission module, the settlement displacement variation and inclination value data of the monitoring point are converted into model coordinates, and a simulated three-dimensional model of the monitored road and bridge is built, the system comprises the following steps:
s41: establishing a three-dimensional coordinate system, selecting one data monitoring reference end as an origin, and inputting the coordinate information of the rest data monitoring reference ends into the three-dimensional coordinate system according to the design information of the road bridge;
s42: filling the monitoring point where the data monitoring end is located into a three-dimensional coordinate system according to the coordinate difference between the monitoring point where the data monitoring end is located and the data monitoring reference end;
s43: generating a pre-simulation plane at a monitoring point of a three-dimensional coordinate system according to the inclination angle information of the monitoring point where the data monitoring end is positioned, which is measured by the gesture measuring module;
s44: cutting the pre-simulation plane according to the width of the bridge road and the position of the monitoring point where the data monitoring end is positioned on the bridge road, cutting off the redundant parts of the pre-simulation planes according to the intersecting condition of a plurality of pre-simulation planes, and connecting the rest pre-simulation planes to form a bridge simulation plane;
s45: and smoothing the bridge simulation plane subjected to the cutting treatment by adopting Laplacian smoothing to obtain a bridge settlement simulation model.
10. The road and bridge settlement remote monitoring system according to claim 9, wherein when the data analysis module analyzes settlement deformation of the bridge according to the simulated three-dimensional model of the road and bridge, the method comprises the following steps:
s51: comparing the coordinate data of each monitoring point of the bridge road with the last monitoring data, and alarming if the coordinate data exceeds a threshold value;
s52: comparing the coordinate data of each monitoring point of the bridge road with the installation position and the coordinate information of each data monitoring terminal, and alarming when the coordinate data exceeds a threshold value;
s53: comparing the inclination angle data of each monitoring point of the bridge road with the last monitoring data, and alarming if the inclination angle data exceeds a threshold value;
s54: comparing the inclination angle data of each monitoring point of the bridge road with the installation position and coordinate information of each data monitoring terminal, and alarming if the inclination angle data exceeds a threshold value;
s55: comparing the inclination angles of all the positions of the bridge according to the bridge settlement simulation model, and if the inclination angles are larger than the set threshold value, alarming to inform workers.
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