CN110657839A

CN110657839A - Well lid safety monitoring system

Info

Publication number: CN110657839A
Application number: CN201910966926.9A
Authority: CN
Inventors: 王尔申; 徐嵩; 何赫; 王延文; 曲萍萍; 庞涛; 张树宁; 祝俊杰; 王长安
Original assignee: Shenyang Aerospace University
Current assignee: Shenyang Aerospace University
Priority date: 2019-10-12
Filing date: 2019-10-12
Publication date: 2020-01-07

Abstract

The invention discloses a well lid safety monitoring system which comprises a well lid equipment end, wherein the equipment end is embedded into a target well lid structure and is respectively provided with a positioning unit, a monitoring unit, an alarm unit, a communication unit and a power supply unit; the well lid state monitoring system is compact and small in overall structure, embedded into a well lid structure, innovatively applied with a Beidou satellite navigation and positioning system, designed with a position, time and other information data compression method, has a downhole toxic gas environment prediction function, and designed with a well lid self-locking protection mechanism based on toxic gas detection, a well lid inclination angle calculation algorithm and the like, realizes the safe monitoring of the well lid state in the coverage area of a monitoring control center, provides important safety guarantee for people going out and downhole workers, and has great application value.

Description

Well lid safety monitoring system

Technical Field

The invention relates to a safety monitoring system, in particular to a well lid safety monitoring system.

Background

With the continuous development and progress of science and technology, intelligent devices gradually step into our lives and play more and more important roles. Nevertheless, devices that are not intelligent anyway are not free from some infrastructure support, such as manhole covers. The well cover which is big and small in the city and is visible everywhere is a window for workers to detect and overhaul equipment or circuits, and the functions of systems such as electric power and hydraulic power are guaranteed. Meanwhile, the problems of inclined offset, damage and even loss of partial well covers in the city due to repeated opening, repeated heavy load and pressure, lack of timely all-dimensional supervision and the like are solved. But the car is traveling and can the wheel be absorbed in uncovered well suddenly, and the cyclist is moving ahead fast but is wounded because of appearing in the protruding well lid in the front suddenly, and the man is pounded into the fracture by the well lid of slope upset suddenly when seemingly normal cellar for storing things, is phagocytosed by a cellar for storing things well that does not have the well lid when going out the door night, and the staff in the pit is absorbed in danger because of the poisonous gaseous environment in the pit. Accidents caused by well cover loss and underground toxic gas are not all over the country, people are frequently swallowed by the well covers, the large number of well covers in cities become huge hidden dangers of public safety, and the life and property safety of people is threatened.

The problem well covers which are not processed in time can generate serious potential safety hazards no matter the problem well covers appear on a motor vehicle lane or a sidewalk, and the danger index can be multiplied if severe weather such as heavy rain and the like is met. For solving this kind of problem well lid from the source, the research has designed well lid safety monitoring system based on big dipper satellite navigation system, realizes carrying out real-time supervision to the well lid state.

Research finds that the common well lid safety monitoring system in the market at present can realize the position and basic information monitoring of the well lid, but has the following three disadvantages: firstly, due to the fact that a sensor and a calculation algorithm are too simple, accurate monitoring of the attitude information of the well lid cannot be achieved, missing report of the information is easy to occur, and partial potential safety hazards still exist; secondly, the monitoring data is single, the detection of toxic gas and the prejudgment of underground environment are rarely considered, and the application range is narrow; thirdly, data is not compressed, so that the transmission data volume is large and the power consumption is large; fourthly, the positioning system has large errors, can not be accurately matched with the well lid, and can not realize accurate description of the position of the well lid.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a well lid safety monitoring system.

The technical scheme adopted by the invention for solving the technical problems is as follows: a well lid safety monitoring system comprises a well lid equipment end, wherein the equipment end is embedded into a target well lid structure and is respectively provided with a positioning unit, a monitoring unit, an alarm unit, a communication unit and a power supply unit; the positioning unit acquires satellite positioning data by adopting a Beidou/GPS dual-mode module and has a positioning information data compression function; the monitoring unit is a core, integrates a toxic gas sensor, a laser range finder and a nine-axis gyroscope, can measure the depth of a space below each well cover, calculates the concentration of the toxic gas at a certain depth below the well cover according to the concentration of the toxic gas measured at the well cover, provides toxic gas concentration information and alarm prompt for maintenance personnel who need to enter underground operation, and can calculate the inclination angle of the well cover through the data of the gyroscope, so that whether the current attitude of the well cover is safe or not is judged, and an alarm is provided for pedestrians and vehicle drivers; the alarm unit adopts a buzzer and a flashing lamp to alarm in a combined manner; the communication unit adopts a WiFi/wireless transmission module and can transmit well lid data to the monitoring control center in real time; the power supply unit is composed of a rechargeable storage battery and a solar power generation panel.

Further improvement, the area of the solar power generation panel is enlarged to ensure sufficient power supply of the system; the equipment end is a cuboid box-shaped device which is tightly packaged, each unit is arranged in the cuboid box, and an antenna head is led out from the upper surface of the cuboid box and is attached to the surface of the cuboid box; the lower end of the well lid is provided with a safety self-locking device based on toxic gas, the safety self-locking device is connected with the upper part of the well lid through a hinge, and the ventilation operation can be carried out only by opening the upper part; prevent that the staff in the pit from going into the well with trade when the environmental poison gas concentration in the pit is too big. The monitoring unit comprises a posture detection sensor, a distance measurement sensor and a toxic gas detection sensor.

Further improvement: hard toughened glass is added on the surface of the solar power generation panel to ensure that the power generation panel is not damaged and prolong the service life of the device; the lower surface of the rectangular shell at the equipment end of the well lid is provided with a plurality of capillary holes, so that water can be prevented from entering the well lid when toxic gas is detected.

The invention has the beneficial effects that:

the utility model provides a well lid safety monitoring system not only can carry out the accurate positioning to the well lid, can carry out the accurate detection calculation to the gesture angle etc. of well lid moreover, has increased poisonous gas simultaneously and has detected, the prediction of environment in the pit, based on netted safe self-lock device that poisonous gas detected and data compression back transmission and system low-power consumption function such as, compares well lid safety monitoring system in the market, has its unique advantage, if: the remote positioning is quick; the identification accuracy of the attitude angle of the well cover is improved; the detection of toxic gas ensures safety, and the system has low power consumption; a data compression method; data reception and correctness checking, etc.

Drawings

In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of the operation of the present invention;

FIG. 2 is an assembly view of the manhole cover equipment end of the present invention;

FIG. 3 is a schematic diagram of the embedded core architecture of the present invention;

FIG. 4 is a schematic diagram of the safety self-locking device based on toxic gas detection;

fig. 5 is a schematic diagram of a data frame format definition according to embodiment 2 of the present invention;

fig. 6 is a diagram illustrating a final one-frame data format according to embodiment 2 of the present invention.

Detailed Description

The invention is described in detail below with reference to the drawings.

As shown in fig. 1, a well lid safety monitoring system, includes a plurality of well lid equipment ends and monitoring control center, wherein the equipment end is installed on the target well lid, can upload status data such as well lid position, inclination in real time, and each well lid subsystem is through wireless mode with data transmission to monitoring control center to drawing well lid safety state distribution diagram on the map, resident user accessible cell-phone APP obtains well lid distribution diagram and safety state information etc..

As shown in fig. 2, an assembly diagram of a manhole cover equipment end and a manhole cover of the manhole cover safety monitoring system is shown in the figure, a toughened glass plate 1, a solar cell panel 2, an embedded intelligent core 3 of the manhole cover equipment end and an internal structure of the embedded intelligent core are specifically shown in fig. 3, and the manhole cover 4 is shown in the figure. The toughened glass plate 1 can play a role in sealing and protecting internal equipment, and meanwhile cannot obstruct the work of the solar power generation plate 2, and the toughened glass plate 1 and the solar power generation plate 2 can change in size and shape as required to meet the requirements of a system on a power supply. The four structures are tightly combined, and sealant can be filled in the gap after assembly, so that a sealed environment is provided, water and dust are prevented, and stable work of internal equipment is guaranteed.

As shown in fig. 3, an embedded intelligent core 3 of a manhole cover equipment end of the manhole cover safety monitoring system comprises a plurality of unit modules: battery 5, big dipper GPS bimodulus orientation module 6, wiFi wireless transmission module 7, singlechip bottom plate 8, singlechip nuclear core plate 9, singlechip step-down plate 10 (singlechip bottom plate 8, singlechip nuclear core plate 9, singlechip step-down plate 10 constitute singlechip unit jointly), nine gyros and toxic gas sensor 11.

As shown in fig. 4, a manhole cover safety monitoring system is based on a mesh safety self-locking device for detecting toxic gas. The manhole cover 4 is connected with the ventilating mesh base 12 through a hinged hinge 13, the safety lock control device 14 is communicated with a manhole cover equipment end through a local ad hoc network, a lock pin 15 can be controlled by the safety lock control device 14 to be inserted into a lock hole, and the bottoms of two ends of a fixed reinforcing steel bar 16 are fixed into the ground. When the lock pin 15 is inserted into the lock hole, the breathable meshed base 12 and the whole well cover 4 are fixed, the function of preventing workers from running down the well under risk is achieved, meanwhile, toxic gas can permeate out, after the concentration of the toxic gas drops below a safety line, the safety lock can be opened, the workers can run down the well for maintenance, and the safety lock can also achieve an anti-theft function at ordinary times.

The working principle of each unit module is as follows:

a singlechip unit: constitute by singlechip core plate 8, singlechip nuclear core plate 9, singlechip step-down board 10, adopt the stm32 high performance control panel of independently drawing, possess serial communication, AD voltage detection, multiple functions such as PWM ripples output, step-down steady voltage power supply to satisfy the multiple function demand of well lid equipment end.

A monitoring unit: the system is composed of a nine-axis gyroscope, a toxic gas sensor and a laser range finder 11, a monitoring unit mainly monitors the safety states of two aspects, on one hand, the safety state of a well lid inclination angle is used, the information is updated on a mobile phone App in real time and mainly serves pedestrians and passing vehicle drivers, on the other hand, the concentration of underground toxic and harmful gas is detected, the service characteristics are considered, the information is not updated in real time, the information is acquired by sending a request, the information transmission burden of the whole system is reduced, the information can be acquired by scanning two-dimensional codes inside a well lid toughened glass plate, a certain well lid can be clicked in the mobile phone App to acquire the information, and the safety state is mainly served by workers who need to enter underground operation.

The nine-axis gyroscope module can output the pitching angle and the rolling angle of the well lid, calculate the inclination angle of the well lid, indicate that the state of the well lid is unsafe when the inclination angle is larger than a certain value (the value can be set), start an alarm system, and simultaneously add alarm data in the uploaded angle data. Because the gyroscope can not directly feed back the included angle between the well lid and the horizontal plane, a well lid inclination angle calculation algorithm needs to be designed. In the patent, a coordinate transformation algorithm of the aircraft attitude is referred to for solving a normal vector of a well lid plane after the well lid is inclined, and then an included angle between the well lid plane and the normal vector of a horizontal plane is calculated by adopting a mathematical means, namely the included angle between the two planes is also a well lid inclination angle.

The poisonous gas sensor and the distance measuring instrument 11 can effectively measure the underground depth of each well lid, and judge whether the underground environment is safe according to the gas concentration value measured at the well lid. After the well lid equipment end receives the signal of the request data, the well lid equipment end can add the state of the toxic gas and the underground depth data behind the current attitude data string, then sends the state and the underground depth data to a monitoring control center, and then sends the state and the underground depth data to a mobile phone App through a network. The internal environment of the lower end of the manhole cover is divided into a plurality of types, and various toxic and harmful gases can be generated, for example, CH is mainly existed in the urban sewage pipeline₄、H₂S、CO₂And the gas is equal, and the ratio of each layer is different in spatial distribution, namely the methane ratio of the upper layer is the largest, the hydrogen sulfide ratio of the middle layer is the largest, and the carbon dioxide ratio of the lower layer is the largest. For workers who need to enter the shaft for work, H₂S is a highly toxic gas and is therefore directed to H₂S gas is detected, and toxic gas sensors are divided into various types including electrochemical gas sensors, combustible gas sensors, semiconductor sensors, infrared sensors and the like. 4H of German Sulidi company can be selected in the well lid equipment end₂The S-100 electrochemical gas concentration sensor has the characteristics of good sensitivity, small volume, low power consumption and the like. When the monitoring control center receives H₂And S, after the gas concentration data and the depth data below the well cover are sent to a mobile phone App, the safety state distribution diagram can be drawn on the mobile phone, and the safety state distribution diagram can be visually presented to a user.

An alarm unit: constitute by singlechip bottom plate 8, embedded bee calling organ and flashing lamp jointly are used for reporting an emergency and asking for help or increased vigilance on singlechip bottom plate 8, start when the well lid state is unsafe.

A communication unit: the wireless data transmission system is composed of a wireless data transmission module 7, the single chip microcomputer processes data, sends the data to the wireless data transmission module through a serial port, uploads the data by adopting a WiFi/wireless data transmission module, automatically switches to the wireless data transmission module to transmit the data when a network signal is poor or the WiFi wireless data transmission module has a problem, and finally transmits the data to a monitoring control center through a wireless network.

A positioning unit: the Beidou/GPS dual-mode positioning system is composed of a Beidou/GPS dual-mode positioning module 6, a Beidou satellite has timing and time service functions, and the single chip microcomputer unit can acquire current time and position information through the module and has a positioning information data compression function; and the data is uploaded to a monitoring control center through a communication unit so as to obtain the position distribution map of the well lid.

A power supply unit: the solar energy charging panel outputs electric energy, the current is stabilized by the singlechip voltage reduction panel, then the electric energy is input into the storage battery to charge the storage battery, and then the storage battery supplies power to the whole system.

Netted safe self-lock device based on toxic gas detects: the mesh-shaped safety self-locking device under the toxic gas detection matching well lid can be opened only when the gas concentration under the well lid does not exceed the standard after a special worker applies data, so that the worker is prevented from taking risk and going down the well to take a poisoning event, and the well lid can be prevented from being stolen. If the poisonous gas concentration in the lower part of the well lid exceeds the standard, the worker can open the upper part of the well lid, release the poisonous gas through the net-shaped safety device, and then enter the underground to work after the underground environment is safe.

Example 2

The well lid safety monitoring system has the advantages that:

(1) remote positioning agility

The positioning unit (the big Dipper/GPS dual-mode module) is used for acquiring a big Dipper/GPS dual-mode positioning signal, so that the accurate positioning of the well lid position is realized, and the well lid positioning device has a positioning information data compression function; meanwhile, the information can be rapidly sent to a remote monitoring control center through the communication unit, the monitoring control center can send the safety information of the well covers of all places to residents in a mobile phone APP mode, visual supervision on the well covers is achieved, and safety of pedestrians, vehicles and the like is guaranteed.

(2) Well lid gesture angle recognition accuracy

Utilize triaxial gyroscope sensor to judge the well lid gesture to design the well lid inclination calculation algorithm based on coordinate transform, when horizontal inclination exceeded when setting for the angle, judge that the well lid is unusual, start alarm unit, pass through wireless communication unit with alarm information simultaneously and transmit to long-range monitoring control center, can carry out real time monitoring to the target well lid, after monitoring control center receives data, carry out the secondary to the well lid state simultaneously and judge, in order to guarantee well lid gesture angle discernment accuracy.

The calculation algorithm of the inclination angle of the well cover is as follows:

the conversion matrix of the airplane from the ground coordinate system to the body coordinate system is as follows:

in the formula: psi is the yaw angle, theta is the pitch angle,

is a transverse roll angle

The unit normal vector of the horizontal plane is:

the vertex coordinates are:

[x_g y_g z_g]^T＝[0 0 1]^T (3)

and (3) carrying out coordinate transformation on the angle, wherein only pitch angle and roll angle are needed for calculating the inclination angle, so that the yaw angle is 0, and the vertex coordinates of the transformed normal vector are as follows:

so the unit normal vector after transformation is:

the inclination angle of the well lid can be obtained as follows:

(3) safety self-locking device based on toxic gas detection

The laser is adopted for ranging, compared with ultrasonic waves used by similar products, the precision is higher, and the ultrasonic ranging device is used for detecting the depth below the well cover. The poisonous gas sensor integrated in the well lid equipment end can detect the poisonous gas concentration of well lid position, controls safe self-lock device from this to guarantee staff's in the pit safety, and have the theftproof function.

(4) System low power consumption

The low-power consumption mode of the stm32 single chip microcomputer with high neutral price ratio is adopted to reduce the power consumption. If further reduction in power consumption is desired, an MSP 430-series single chip microcomputer can be used, which is a 16-bit ultra-low power consumption mixed signal processor with Reduced Instruction Set (RISC) that was introduced into the market in Texas Instruments (TI) in the United states in 1996.

(5) Data compression method

When the well lid equipment end sends data to the monitoring control center, unsigned 2-system numbers stored according to bits are adopted for sending, and the sent data volume is reduced to the greatest extent. The angle data, the safety state data, the toxic gas detection state data and the like to be transmitted are converted and compressed, wherein the angle data are signed shaping variables from-90 degrees to 90 degrees, the signed shaping variables are converted into 0-180 degrees by adding 90 degrees on the basis of the original angle, and then the unsigned shaping variables are transmitted as 2-system numbers. The safety state data and the toxic gas detection state data are both 0 or 1 switching value, and only two 2-bit binary numbers are used for transmitting in order to shorten the length of the data string. The acquired time and positioning longitude and latitude space-time information is subjected to corresponding different coding mode conversion processing according to the characteristics of the data, and the compression operation codes the information which needs to occupy dozens of bytes into 10 bytes, so that the length of data transmission is greatly reduced, and the power consumption of the system is indirectly reduced. The data frame format definition is shown in fig. 5: well lid state 18, toxic gas detection state 19, angle data 20, and space-time information 21;

(6) data reception and correctness checking

When the monitoring control center receives data, the start bit of the data needs to be identified, so that an 8-bit special character is added before the data frame to be used as a frame header. After receiving the data, it needs to judge whether the current data is valid, so a special character of 8 bits is added at the end of the data frame as the end of the frame, and parity check is performed, so the final frame data format is as shown in fig. 6: frame header 17, manhole cover state 18, toxic gas detection state 19, angle data 20, space-time information 21, parity check 22 and frame tail 23.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a well lid safety monitoring system which characterized in that: the manhole cover monitoring system comprises a manhole cover equipment end, wherein the equipment end is embedded into a target manhole cover structure and is respectively provided with a positioning unit, a monitoring unit, an alarm unit, a communication unit and a power supply unit; the positioning unit acquires satellite positioning data by adopting a Beidou/GPS dual-mode module and has a positioning information data compression function; the monitoring unit is a core and integrates a toxic gas sensor, a laser range finder and a nine-axis gyroscope; the alarm unit adopts a buzzer and a flashing lamp to alarm in a combined manner; the communication unit adopts a WiFi/wireless transmission module and can transmit well lid data to the monitoring control center in real time; the power supply unit is composed of a rechargeable storage battery and a solar power generation panel.

2. The well lid safety monitoring system of claim 1, wherein: the equipment end is a cuboid box-shaped device which is tightly packaged, each unit is arranged in the cuboid box, and an antenna head is led out from the upper surface of the cuboid box and is attached to the surface of the cuboid box; the lower end of the well lid is provided with a safety self-locking device based on toxic gas, the safety self-locking device is connected with the upper part of the well lid through a hinge, and the ventilation operation can be carried out only by opening the upper part; the monitoring unit comprises a posture detection sensor, a distance measurement sensor and a toxic gas detection sensor.

3. The well lid safety monitoring system of claim 1, wherein: the solar panel is arranged on the upper surface of the cuboid box, and the bottom of the cuboid box is waterproof through capillary holes.