CN-120703749-B - Device and method for monitoring three-dimensional displacement structure by group microwave radar

Abstract

The invention discloses a method and a device for monitoring a three-dimensional displacement structure by a group of microwave radars, wherein the device comprises a microwave radar A, a microwave radar B, a microwave radar C, a power supply, a controller, a router and a cloud server which are arranged on an adjustable three-radar positioning frame, and a reflection target arranged at a monitoring point, wherein the microwave radar A, the microwave radar B and the microwave radar C are respectively connected with the power supply and the controller, the microwave radar A, the microwave radar B and the microwave radar C are used for measuring the distance between the microwave radar A, the microwave radar B and the microwave radar C and the reflection target and sending the distance to the controller, the controller calculates the space coordinates of the reflection target according to the distance and sends the space coordinates to the router, the reflection target is used for reflecting radar signals, the router is used for transmitting the space coordinates of the reflection target to the cloud server, and the cloud server is used for calculating a deflection angle according to the space coordinates of the reflection target, and the deflection angle is larger than a certain threshold value for early warning. The invention can realize the monitoring and early warning of the three-dimensional displacement structure.

Inventors

• NIU YANWEI
• SHEN RONGBO
• NING JING
• WANG CHENYANG
• Dang Wanghui

Assignees

• 长安大学

Dates

Publication Date

20260512

Application Date

20250819

Claims (4)

1. 1. A device for monitoring a three-dimensional displacement structure by a group of microwave radars, comprising: the system comprises a microwave radar A, a microwave radar B, a microwave radar C, a power supply, a controller, a router and a cloud server which are arranged on an adjustable three-radar positioning frame, and a reflection target arranged at a monitoring point; The microwave radar A, the microwave radar B and the microwave radar C are respectively connected with a power supply and a controller, the controller is connected with a router, and the router is connected with a cloud server; The microwave radar A, the microwave radar B and the microwave radar C are used for measuring the distance between the microwave radar A, the microwave radar B and the microwave radar C and sending the distance to the controller, the controller is used for calculating the space coordinates of the reflection target according to the distance and sending the space coordinates of the reflection target to the router, the reflection target is used for reflecting radar signals, the router is used for transmitting the space coordinates of the reflection target to the cloud server, and the cloud server is used for calculating a deflection angle according to the space coordinates of the reflection target, and the deflection angle is larger than a certain threshold value for early warning; The adjustable three-radar positioning frame comprises a radar frame base, an adjustable supporting rod, an adjustable triangular seat, a supporting rod, three telescopic radar fixing rods and three inclined struts, wherein the adjustable supporting rod is connected with the radar frame base, the adjustable supporting rod is used for adjusting vertical height and horizontal rotation angle, the adjustable triangular seat is connected with the adjustable supporting rod, the adjustable triangular seat is used for adjusting vertical rotation angle, the supporting rod and the three telescopic radar fixing rods are respectively connected with the adjustable triangular seat, the angles among the three telescopic radar fixing rods are 120 degrees and are equal in length, the three telescopic radar fixing rods are used for adjusting the lengths of the three equal-length rods, and the inclined struts are fixed between the telescopic radar fixing rods and the supporting rod; The installation positions of the microwave radars A, B and C are in the reflection range of the reflection target, namely in the extension plane of the reflection target reflecting plate.
2. 2. A method of monitoring a three-dimensional displacement structure by a group microwave radar, characterized in that it comprises, based on the device of claim 1: Installing n reflection targets at monitored points, wherein n is greater than 2, and installing a group of microwave radar devices in the reflection range of the n reflection targets, wherein the group of microwave radar devices comprises a controller, an adjustable three-radar positioning frame, a microwave radar A, a microwave radar B and a microwave radar C; The method comprises the steps of inputting the linear distance length between a microwave radar A and a microwave radar B, the linear distance length between a microwave radar B and a microwave radar C and the linear distance length between the microwave radar A and the microwave radar C into a controller, establishing a space coordinate system, wherein the x-axis of the space coordinate system coincides with a connecting line between the microwave radar A and the microwave radar B, and the z-axis is vertical to a horizontal plane and takes the microwave radar A as an origin; In a certain time slice, three microwave radars run for m times to measure the distances between the microwave radars A, B and C and n reflection targets, and a controller obtains the distances between the microwave radars A, B and C and n reflection targets to generate n groups of lists containing 3 tuples, wherein each tuple contains m elements; The list is sent to a server through a router, the server takes a representative value for m elements of each tuple in the list to obtain a final list, n groups of data in the final list are randomly taken to obtain two groups of data, a plurality of double-reflection target group data are obtained through permutation and combination, one group of data in the plurality of double-reflection target group data is taken, F 1 and F 2 are taken as reflection targets, and the distances between a microwave radar A, a microwave radar B and a microwave radar C and F 1 and F 2 are recorded as L AF1 、L BF1 、L CF1 、L AF2 、L BF2 、L CF2 ; Inputting the space coordinates of the microwave radar A, the microwave radar B and the microwave radar C and L AF1 、L BF1 、L CF1 、L AF2 、L BF2 、L CF2 into a space coordinate equation to calculate the space coordinates of F 1 and F 2 , and selecting a positive value when F 1 or F 2 is higher than the microwave radar A in the vertical direction, or selecting a negative value; Calculating the space coordinates of F 1 and F 2 as initial values in real time to obtain space coordinates of F 1 and F 2 as real-time values, and calculating deflection angles in the z-y and x-y planes according to the initial values and the real-time values of F1 or F2; and setting early warning values in the z-y and x-y directions, and carrying out early warning when the deflection angle reaches the early warning value.
3. 3. The method according to claim 2, wherein mounting the group of microwave radar devices within the reflection range of the n reflection targets specifically comprises: The three-radar positioning frame is adjusted to enable the furthest reflection targets from the total distances of the microwave radars to be equal to the distances of the microwave radars A, B and C, n reflection targets and the microwave radars A, B and C are installed according to the field condition, the side length L AB 、L AC 、L BC of a triangle formed by connecting lines between the initially arranged microwave radars A, B, C is not less than 2m, the position of the microwave radar A is used as the origin of a space coordinate system, and the space coordinates of the microwave radars B and C are obtained through measurement; starting three microwave radars, obtaining the distances from the three microwave radars to a reflection target F, and sending the distances to a controller, wherein the reflection target F is the reflection target with the farthest total distance from each microwave radar, and the controller calculates the space coordinates of the reflection target F according to the space coordinates of the microwave radars A, B and C and the distances from the three microwave radars to the reflection target F; The controller takes the space coordinates of the microwave radar A, the microwave radar C and the reflection target F as initial values, modifies the space coordinates of the microwave radar B to generate errors with the position of the initial microwave radar B, and inputs the initial values and the modified space coordinates into a space coordinate equation to obtain the distance between the reflection target F and the microwave radar B; according to the coordinates of the microwave radar A, the microwave radar B and the microwave radar C before the error is generated by the microwave radar B and the distance between the reflection target F after the error is generated and the microwave radar B, calculating the coordinates of the reflection target F after the error is generated by the microwave radar B; Calculating absolute errors Deltax, deltay and Deltaz of the coordinate of the reflection target before error generation and the coordinate of the reflection target after error generation; Adjusting side lengths L AB 、L AC and L BC of triangles formed by connecting lines between the microwave radars A, B, C, and recalculating space coordinates of the microwave radars B and C; under the condition of different side lengths of the statistical triangle, generating the absolute errors delta x, delta y and delta z of the coordinate of the reflection target F before error and the coordinate F of the reflection target F after error, determining the maximum allowable distance placed between the field microwave radars according to the field condition, the reflection angle of the reflection target and the condition of the microwave radar identification reflection target, finding the side length between three microwave radars corresponding to the minimum absolute errors delta x, delta y and delta z according to the maximum allowable distance placed between the field microwave radars, taking the side length between the three microwave radars as the optimal microwave radar installation side length, and adjusting the horizontal corner and the vertical corner of the adjustable three radar positioning frame to enable the microwave radars to identify the reflection target.
4. 4. The method of claim 3, further comprising mapping a three-dimensional map of deflection angles.

Description

Device and method for monitoring three-dimensional displacement structure by group microwave radar Technical Field The invention relates to the field of monitoring three-dimensional displacement structures, in particular to a device and a method for monitoring a three-dimensional displacement structure by a group microwave radar. Background The three-dimensional displacement structure monitoring mainly depends on communicating pipe principle type sensors, reflective photoelectric type sensors, inclination angle type sensors and the like, but the sensors have the problems of easy liquid expansion, evaporation, liquid leakage, vehicle passing interference and the like, and part of the sensors have narrow application range, low monitoring coverage range and large influence by natural environment factors. The traditional manual monitoring method has low precision and slow process, and is difficult to meet the accurate monitoring requirement. In the existing artificial intelligence-based measurement method, a visual sensor is easily influenced by factors such as ambient illumination change, background interference and the like, so that a measurement result is unstable, and a background model is slowly updated dynamically and easily influenced by the ambient change by a traditional image processing method. For slope monitoring, the traditional method relies on manual inspection and simple tools, has low efficiency and is difficult to realize real-time monitoring and early warning. Although the system comprising various monitoring modules and early warning modules still has the defects that the monitoring points are limited, the monitoring means are single, the monitoring methods are independent, comprehensive analysis of the integrated data is difficult, and factors such as side slope deep microseismic monitoring and blasting vibration monitoring are not fully considered, so that the investment is large, the effect is very little, and the complex scene is difficult to adapt to and the requirement of comprehensive monitoring is met. Disclosure of Invention The invention aims to provide a device and a method for monitoring a three-dimensional displacement structure by a group microwave radar, and aims to solve the problem of monitoring the three-dimensional displacement structure. The invention provides a device for monitoring a three-dimensional displacement structure by a group microwave radar, which comprises the following components: the system comprises a microwave radar A, a microwave radar B and a microwave radar C which are arranged on a three-radar positioning frame, a power supply, a controller, a router and a cloud server, and a reflection target arranged at a monitoring point; The microwave radar A, the microwave radar B and the microwave radar C are respectively connected with a power supply and a controller, the controller is connected with a router, and the router is connected with a cloud server; The system comprises a controller, a router, a cloud server and a cloud server, wherein the controller is used for calculating the space coordinates of a reflection target according to the distance, the reflection target is used for reflecting radar signals, the router is used for transmitting the space coordinates of the reflection target to the cloud server, the cloud server is used for calculating the deflection angle according to the space coordinates of the reflection target, and the deflection angle is larger than a certain threshold value for early warning. The invention also provides a method for monitoring the three-dimensional displacement structure by the group microwave radar, which comprises the following steps: Installing n reflection targets at a monitored point, wherein n is greater than 2, and installing a group of microwave radar devices in the reflection range of the n reflection targets, wherein the group of microwave radar devices comprises a controller, an adjustable three-radar positioning frame, a microwave radar A, a microwave radar B and a microwave radar C; The method comprises the steps of inputting the linear distance length between a microwave radar A and a microwave radar B, the linear distance length between a microwave radar B and a microwave radar C and the linear distance length between the microwave radar A and the microwave radar C into a controller, establishing a space coordinate system, wherein the x-axis of the space coordinate system coincides with a connecting line between the microwave radar A and the microwave radar B, and the z-axis is vertical to a horizontal plane and takes the microwave radar A as an origin; In a certain time slice, three microwave radars run for m times to measure the distances between the microwave radars A, B and C and n reflection targets, and a controller obtains the distances between the microwave radars A, B and C and n reflection targets to generate n groups of lists containing 3 tuples, wherein each tuple contains m elements; The lis