阅读说明：本技术 一种桥墩碰撞检测方法及系统 (Pier collision detection method and system ) 是由 刘晓海 车松勋 林志 于 2021-06-22 设计创作，主要内容包括：本申请涉及一种桥墩碰撞检测方法及系统,不再需要人工进行定期检查,以及用效率不高的摄像机系统模糊检查和预测碰撞,而是采用加速度传感器根据加速度数据的幅值范围和标准差或方差直接监测船体与防撞物的接触情况,具有监测结果准确,易于实现的优点。(The application relates to a pier collision detection method and a pier collision detection system, which do not need manual regular inspection, fuzzy inspection and collision prediction by using a camera system with low efficiency, but adopt an acceleration sensor to directly monitor the contact condition of a ship body and an anti-collision object according to the amplitude range, standard deviation or variance of acceleration data, and have the advantages of accurate monitoring result and easy realization.)

1. A collision detection system for a bridge pier, comprising:

the acceleration sensors are arranged on the pier protection belt, and the sampling frequency is 20 per second;

the LORA gateways receive acceleration data acquired by the acceleration sensor;

the server receives acceleration data from the LORA gateway;

when the acceleration sensor senses an acceleration value exceeding a set value, starting the work, recording initial time, collecting the acceleration value within set preset time and sending the collected acceleration value to the server through the gateway;

the server determines an impact position and acceleration data at the impact position according to the acceleration values of different acceleration sensors;

calculating an amplitude range and a standard deviation or variance of the acceleration data at the impact location;

the impact strength is determined from the amplitude range and the standard deviation or variance.

2. The bridge pier collision detection system according to claim 1, wherein the impact location and the acceleration data at the impact location are determined in one of the following two ways:

firstly, taking data acquired by the acceleration sensor with the maximum acceleration data peak value in all the acceleration sensors as acceleration data at an impact position;

and secondly, selecting all acceleration sensors which are started within half of the sampling interval time from the starting time of the first starting acceleration sensor, carrying out linear fitting on the acceleration values at each sampling time by the selected acceleration sensors according to the sampling sequence to obtain the maximum acceleration value, and combining the maximum acceleration values obtained by fitting at all the sampling times to form acceleration data at the impact position.

3. The bridge pier collision detection system according to claim 2,

and intercepting data within 5 seconds after the maximum value of the acceleration data when the acceleration data at the impact position is calculated.

4. The bridge collision detection system according to claim 3, wherein the acceleration sensors are disposed at a pitch of 1-3 meters.

5. The bridge pier collision detection system according to claim 4, wherein the acceleration sensor is spaced by two meters, the sampling frequency is 20 per second, the preset time is 5 seconds, 100 data are collected, and then the collision strength judgment condition is as follows:

heavy collision: the minimum value of the amplitude is less than or equal to-14 g, the maximum value of the amplitude is greater than or equal to +11g and the standard deviation is as follows: sigma is greater than 2;

and (3) medium collision: the minimum value of the amplitude is less than or equal to-11 g, the maximum value of the amplitude is greater than or equal to +8g and the standard deviation is as follows: sigma is more than 1.10 and less than or equal to 2.00;

light collision: the minimum value of the amplitude is less than or equal to-5 g, the maximum value of the amplitude is greater than or equal to +3g and the standard deviation is as follows: sigma is more than 0.50 and less than or equal to 1.10;

other magnitudes and standard deviation values are negligible collisions.

6. A collision detection method for a pier is characterized by comprising the following steps:

s1: arranging a plurality of acceleration sensors on the pier protection belt, wherein the acceleration sensors send acquired acceleration data to an LORA gateway and then to a server;

s2: when the acceleration sensor senses an acceleration value exceeding a set value, starting the work, recording initial time, collecting the acceleration value within set preset time and sending the collected acceleration value to the server through the gateway; the preset time may be set to 5 seconds in general;

s3: the server determines an impact position and acceleration data at the impact position according to the acceleration values of different acceleration sensors;

s4: calculating an amplitude range and a standard deviation or variance of the acceleration data at the impact location;

s5: the impact strength is determined from the amplitude range and the standard deviation or variance.

7. The bridge pier collision detection method according to claim 6, wherein the collision position and the acceleration data at the collision position in the step of S5 are determined in one of the following two ways:

firstly, taking data acquired by the acceleration sensor with the maximum acceleration data peak value in all the acceleration sensors as acceleration data at an impact position;

and secondly, selecting all acceleration sensors which are started within half of the sampling interval time from the starting time of the first starting acceleration sensor, carrying out linear fitting on the acceleration values at each sampling time by the selected acceleration sensors according to the sampling sequence to obtain the maximum acceleration value, and combining the maximum acceleration values obtained by fitting at all the sampling times to form acceleration data at the impact position.

8. The bridge pier collision detection method according to claim 7,

and intercepting data within 5 seconds after the maximum value of the acceleration data when the acceleration data at the impact position is calculated.

9. The bridge pier collision detection method according to claim 8, wherein in the step S1, the acceleration sensors are arranged at a distance of 1-3 meters.

10. The bridge pier collision detection method according to claim 9, wherein 100 data are collected at two-meter intervals of the acceleration sensor, the sampling frequency is 20 seconds, the preset time is 5 seconds, and the judgment condition of the collision strength in the step S5 is as follows:

heavy collision: the minimum value of the amplitude is less than or equal to-14 g, the maximum value of the amplitude is greater than or equal to +11g and the standard deviation is as follows: sigma is greater than 2;

and (3) medium collision: the minimum value of the amplitude is less than or equal to-11 g, the maximum value of the amplitude is greater than or equal to +8g and the standard deviation is as follows: sigma is more than 1.10 and less than or equal to 2.00;

light collision: the minimum value of the amplitude is less than or equal to-5 g, the maximum value of the amplitude is greater than or equal to +3g and the standard deviation is as follows: sigma is more than 0.50 and less than or equal to 1.10;

other magnitudes and standard deviation values are negligible collisions.

Technical Field

The application belongs to the technical field of safety detection, and particularly relates to a pier collision detection method and system.

Background

Ships often pass under the bridge, and the bridge piers under the bridge can be collided by the passing ships if the ships frequently pass through the bridge, and once the ships are collided and damaged, a very large accident can be caused. Aiming at various impact events, a management department firstly judges the severity and impact position of the impact, needs to discover accident potential early, and takes effective measures to avoid accidents.

The existing method is to capture and identify collision evidence by means of video shooting. However, the pier environment is on the water surface, and the pier environment is high in corrosivity and inconvenient to wire. And often for severe collisions, a shelved class of accident of the hull is easily detected. The small collision cannot be perceived, and the breakage condition needs to be checked manually at regular time. In addition, the environment of the bridge pier is on the water surface, the fog is often generated, the humidity is high, and the detection and the identification of a camera are very difficult.

Disclosure of Invention

The technical problem to be solved by the invention is as follows: in order to overcome the defects in the prior art, the pier collision detection method and system based on the acceleration sensor are provided.

The technical scheme adopted by the invention for solving the technical problems is as follows:

a collision detecting system for a pier, comprising:

the acceleration sensors are arranged on the pier protection belt, and the sampling frequency is 20 per second;

the LORA gateways receive acceleration data acquired by the acceleration sensor;

the server receives acceleration data from the LORA gateway;

when the acceleration sensor senses an acceleration value exceeding a set value, starting the work, recording initial time, collecting the acceleration value within set preset time and sending the collected acceleration value to the server through the gateway;

the server determines an impact position and acceleration data at the impact position according to the acceleration values of different acceleration sensors;

calculating an amplitude range and a standard deviation or variance of the acceleration data at the impact location;

the impact strength is determined from the amplitude range and the standard deviation or variance.

Preferably, in the pier collision detecting system according to the present invention, the collision position and the acceleration data at the collision position are determined in one of the following two ways:

firstly, taking data acquired by the acceleration sensor with the maximum acceleration data peak value in all the acceleration sensors as acceleration data at an impact position;

and secondly, selecting all acceleration sensors which are started within half of the sampling interval time from the starting time of the first starting acceleration sensor, carrying out linear fitting on the acceleration values at each sampling time by the selected acceleration sensors according to the sampling sequence to obtain the maximum acceleration value, and combining the maximum acceleration values obtained by fitting at all the sampling times to form acceleration data at the impact position.

Preferably, the pier collision detecting system of the present invention,

and intercepting data within 5 seconds after the maximum value of the acceleration data when the acceleration data at the impact position is calculated.

Preferably, in the pier collision detecting system according to the present invention, the acceleration sensors are disposed at an interval of 1 to 3 meters.

Preferably, in the pier collision detecting system of the present invention, the acceleration sensor is spaced by two meters, the sampling frequency is 20 per second, the preset time is 5 seconds, and 100 data are collected, so that the collision strength determining condition is:

heavy collision: the minimum value of the amplitude is less than or equal to-14 g, the maximum value of the amplitude is greater than or equal to +11g and the standard deviation is as follows: sigma is greater than 2;

and (3) medium collision: the minimum value of the amplitude is less than or equal to-11 g, the maximum value of the amplitude is greater than or equal to +8g and the standard deviation is as follows: sigma is more than 1.10 and less than or equal to 2.00;

light collision: the minimum value of the amplitude is less than or equal to-5 g, the maximum value of the amplitude is greater than or equal to +3g and the standard deviation is as follows: sigma is more than 0.50 and less than or equal to 1.10;

other magnitudes and standard deviation values are negligible collisions.

The invention also provides a pier collision detection method, which comprises the following steps:

s1: arranging a plurality of acceleration sensors on the pier protection belt, wherein the acceleration sensors send acquired acceleration data to an LORA gateway and then to a server;

s2: when the acceleration sensor senses an acceleration value exceeding a set value, starting the work, recording initial time, collecting the acceleration value within set preset time and sending the collected acceleration value to the server through the gateway; the preset time may be set to 5 seconds in general;

s3: the server determines an impact position and acceleration data at the impact position according to the acceleration values of different acceleration sensors;

s4: calculating an amplitude range and a standard deviation or variance of the acceleration data at the impact location;

s5: the impact strength is determined from the amplitude range and the standard deviation or variance.

Preferably, in the pier collision detecting method of the present invention, the collision position and the acceleration data at the collision position in step S5 are determined in one of the following two ways:

firstly, taking data acquired by the acceleration sensor with the maximum acceleration data peak value in all the acceleration sensors as acceleration data at an impact position;

and secondly, selecting all acceleration sensors which are started within half of the sampling interval time from the starting time of the first starting acceleration sensor, carrying out linear fitting on the acceleration values at each sampling time by the selected acceleration sensors according to the sampling sequence to obtain the maximum acceleration value, and combining the maximum acceleration values obtained by fitting at all the sampling times to form acceleration data at the impact position.

Preferably, the collision detecting method of a pier of the present invention,

and intercepting data within 5 seconds after the maximum value of the acceleration data when the acceleration data at the impact position is calculated.

Preferably, in the pier collision detecting method of the present invention, in the step S1, the acceleration sensors are disposed at an interval of 1 to 3 meters.

Preferably, in the pier collision detecting method of the present invention, the acceleration sensor is spaced by two meters, the sampling frequency is 20 per second, the preset time is 5 seconds, and 100 data are collected, and then the determination condition of the impact strength in the step S5 is:

heavy collision: the minimum value of the amplitude is less than or equal to-14 g, the maximum value of the amplitude is greater than or equal to +11g and the standard deviation is as follows: sigma is greater than 2;

and (3) medium collision: the minimum value of the amplitude is less than or equal to-11 g, the maximum value of the amplitude is greater than or equal to +8g and the standard deviation is as follows: sigma is more than 1.10 and less than or equal to 2.00;

light collision: the minimum value of the amplitude is less than or equal to-5 g, the maximum value of the amplitude is greater than or equal to +3g and the standard deviation is as follows: sigma is more than 0.50 and less than or equal to 1.10;

other magnitudes and standard deviation values are negligible collisions.

The invention has the beneficial effects that:

according to the pier collision detection method and system, manual regular inspection is not needed, fuzzy inspection and collision prediction are performed by using a camera system with low efficiency, the contact condition of the ship body and the collision-proof object is directly monitored by using the acceleration sensor according to the amplitude range, the standard deviation or the variance of acceleration data, and the pier collision detection method and system have the advantages of being accurate in monitoring result and easy to achieve.

Drawings

The technical solution of the present application is further explained below with reference to the drawings and the embodiments.

Fig. 1 is a block diagram of a pier collision detection system according to an embodiment of the present application;

fig. 2 is a flowchart of a pier collision detection method according to an embodiment of the present application.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art through specific situations.

The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Example 1

The present embodiment provides a pier collision detecting system, as shown in fig. 1, including:

the acceleration sensors are arranged on the pier protection belt, and the sampling frequency is 20 per second for example;

the LORA gateways receive acceleration data acquired by the acceleration sensor;

the server receives acceleration data from the LORA gateway;

when the acceleration sensor senses an acceleration value exceeding +/-2 g, starting the work, recording initial time, collecting the acceleration value within set preset time and sending the collected acceleration value to the server through the gateway; the preset time may be set to 5 seconds in general;

the server determines an impact position and acceleration data at the impact position according to the acceleration values of different acceleration sensors;

calculating an amplitude range and a standard deviation or variance of the acceleration data at the impact location;

determining the impact strength according to the amplitude range and the standard deviation or the variance, wherein the specific value can be obtained according to an experiment;

the following acceleration sensor interval is two meters, and sampling frequency is 20 every second, and the preset time is 5 seconds, gathers 100 data altogether, and the concrete judgement condition is:

heavy collision: the minimum value of the amplitude is less than or equal to-14 g, the maximum value of the amplitude is greater than or equal to +11g and the standard deviation is as follows: sigma is greater than 2;

and (3) medium collision: the minimum value of the amplitude is less than or equal to-11 g, the maximum value of the amplitude is greater than or equal to +8g and the standard deviation is as follows: sigma is more than 1.10 and less than or equal to 2.00;

light collision: the minimum value of the amplitude is less than or equal to-5 g, the maximum value of the amplitude is greater than or equal to +3g and the standard deviation is as follows: sigma is more than 0.50 and less than or equal to 1.10;

other magnitudes and standard deviation values are negligible collisions.

Wherein G is the acceleration of gravity.

The determination of the impact location and the acceleration data at the impact location can be made in two ways:

firstly, taking data acquired by the acceleration sensor with the maximum acceleration data peak value in all the acceleration sensors as acceleration data at an impact position;

secondly, selecting all acceleration sensors which are started within a half sampling interval time from the starting time of the first starting acceleration sensor (namely all acceleration sensors within a half sampling interval time, such as 0.01s, from the first sampling time), carrying out linear fitting on the acceleration values of the selected acceleration sensors at each sampling time according to a sampling sequence to obtain a maximum acceleration value, and combining the maximum acceleration values obtained by fitting at all sampling times to form acceleration data at an impact position; (that is, the acceleration data at the impact position is calculated by the data of the selected acceleration sensors through a linear fitting method, since the impact point may be located between two acceleration sensors, any one acceleration sensor cannot accurately represent the data of the impact point, so that the accuracy of the data can be improved through the linear fitting method, and when the acceleration sensors are selected, the acceleration sensors cannot be too far away from each other in consideration of the propagation of vibration, so that half of the sampling interval time is taken as a cut-off point when a range is selected, and the acceleration sensors can accurately represent the acceleration value at the impact time).

And intercepting data within 5 seconds after the maximum value of the acceleration data when the acceleration data at the impact position is calculated.

The setting interval of the acceleration sensors is 1-3 meters.

If the magnitude is solely relied on to judge the collision grade, but the magnitude of the collision with lower grade can reach the magnitude range of the 'heavy collision' in the actual test, so the misjudgment rate is higher by judging the magnitude, and the standard deviation or the variance representing the discrete value can be introduced to improve the accuracy of the collision judgment.

It should be noted that the acceleration sensor is provided with a battery, is operated in a sleep low-power mode at ordinary times, and enters a normal working mode when a collision occurs, namely, the acceleration sensor starts to work when the acceleration value exceeds +/-2 g;

the gateway is deployed at a place suitable for receiving data signals of all acceleration sensors of the bridge pier, is provided with a battery and is charged by solar energy;

example 2

The embodiment provides a pier collision detection method, which comprises the following steps:

s1: arranging a plurality of acceleration sensors on the pier protection belt, wherein the acceleration sensors send acquired acceleration data to an LORA gateway and then to a server;

s2: when the acceleration sensor senses an acceleration value exceeding a set value (such as +/-2 g), starting the work, recording the initial time, collecting the acceleration value within the set preset time and sending the collected acceleration value to the server through the gateway; the preset time may be set to 5 seconds in general;

s3: the server determines an impact position and acceleration data at the impact position according to the acceleration values of different acceleration sensors;

s4: calculating an amplitude range and a standard deviation or variance of the acceleration data at the impact location;

s5: the impact strength is determined from the amplitude range and the standard deviation or variance.

Determining the impact strength according to the amplitude range and the standard deviation or the variance in the step S5, wherein the specific value can be obtained according to experiments;

the following acceleration sensor interval is two meters, and sampling frequency is 20 every second, and the preset time is 5 seconds, gathers 100 data altogether, and the concrete judgement condition is:

heavy collision: the minimum value of the amplitude is less than or equal to-14 g, the maximum value of the amplitude is greater than or equal to +11g and the standard deviation is as follows: sigma is greater than 2;

and (3) medium collision: the minimum value of the amplitude is less than or equal to-11 g, the maximum value of the amplitude is greater than or equal to +8g and the standard deviation is as follows: sigma is more than 1.10 and less than or equal to 2.00;

light collision: the minimum value of the amplitude is less than or equal to-5 g, the maximum value of the amplitude is greater than or equal to +3g and the standard deviation is as follows: sigma is more than 0.50 and less than or equal to 1.10;

other magnitudes and standard deviation values are negligible collisions.

Wherein G is the acceleration of gravity.

In step S3, the impact position and the acceleration data at the impact position may be determined in the following two ways:

firstly, taking data acquired by the acceleration sensor with the maximum acceleration data peak value in all the acceleration sensors as acceleration data at an impact position;

secondly, selecting all acceleration sensors which are started within a half sampling interval time from the starting time of the first starting acceleration sensor (namely all acceleration sensors within a half sampling interval time, such as 0.01s, from the first sampling time), carrying out linear fitting on the acceleration values of the selected acceleration sensors at each sampling time according to a sampling sequence to obtain a maximum acceleration value, and combining the maximum acceleration values obtained by fitting at all sampling times to form acceleration data at an impact position; (that is, the acceleration data at the impact position is calculated by the data of the selected acceleration sensors through a linear fitting method, since the impact point may be located between two acceleration sensors, any one acceleration sensor cannot accurately represent the data of the impact point, so that the accuracy of the data can be improved through the linear fitting method, and when the acceleration sensors are selected, the acceleration sensors cannot be too far away from each other in consideration of the propagation of vibration, so that half of the sampling interval time is taken as a cut-off point when a range is selected, and the acceleration sensors can accurately represent the acceleration value at the impact time).

Further, data within 5 seconds after the maximum value of the acceleration data is intercepted when calculating the acceleration data at the impact position.

Preferably, the acceleration sensors are arranged at intervals of 1-3 meters.

If the magnitude is solely relied on to judge the collision grade, but the magnitude of the collision with lower grade can reach the magnitude range of the 'heavy collision' in the actual test, so the misjudgment rate is higher by judging the magnitude, and the standard deviation or the variance representing the discrete value can be introduced to improve the accuracy of the collision judgment.

In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.