Accurate Measuring System For Tower Tilt Based On Disturbance Of Pole Tower Base In Goaf

In most of the coal mining areas of our country,coal mining has led to much of the ground subsidence and deformation.The ground deformation will directly affect the foundation of the high-voltage transmission line pole tower and the tower pitch in ways such as pole tower tilt,pole tower foundation subsidence,translation and twisting,line tension and sag changes,etc.,even causing the tower to collapse,seriously affecting the normal operation of the line.In order to detect the tilt of a single tower,good sensors and corresponding processing circuits are available to detect the tilt state of the tower in time.The current transmission towers are bulky and complex in structure,and the supporting part is often composed of multiple poles in a net-like structure to form the tower base.Using existing technologies to measure the tilt of the single tower is insufficient to determine the overall tilt state of the tower.At present,most of the research at home and abroad is about the measurement of the tower tilt,whereas the tower tilt is only one manifestation of the problems of the transmission tower.More often,they are caused by the translation,twisting,or subsidence of the tower base.However,there is very little measurement and research about the base.With the development of sensor technology,high-performance attitude monitoring modules and laser ranging modules have been widely used in the field of detection,and it has become possible to develop new precise measurement devices for the tilt of towers(pedestals).This subject uses the laser ranging module to obtain the distance between the laser and the center of the transmission tower base.The attitude sensor module acquires the attitude angle of the laser ranging module and the tower base.The collected attitude angle data and distance data are used to separately calculate the coordinates of the four tower foot bases and the tilt angle of the tower with specific algorithm.Then,the measurement data of different periods are standardized,analyzed and compared in the same coordinate system,so as to have a deeper understanding of the change processes of tower tilt,base twisting,rotation and translation.In addition,the unity 3D interface visually displays the tower and base tilt.The data will be saved to provide necessary data reserve for technical measures related to the goaf power grid construction,operation and management.Combined with the needs of the subject,the subject mainly completed the following contents:(1)According to the laboratory’s years of experience in relevant projects,the feedback on the field situation from the front-line line inspectors,as well as the in-depth research on the existing tower tilt measurement technology,it is proposed to carry out tower tilt precise measurement system research based on the disturbance of the tower base in the goaf.(2)According to the deformation of transmission tower body and base in goaf,the overall scheme of the precise measurement system for the tilting of the tower base disturbance in goaf is designed,which mainly includes the overall structural design of the measurement system and the design of the software and hardware of the measurement system.(3)According to the subject requirements,the transmission tower and the base structure,the three-dimensional coordinates of the center of the base are calculated by using the directional angle and the direction cosine;the inclination angle of the transmission tower body is derived using the knowledge of Rodriguez rotation matrix and normal vector solution.And the attitude verification model of tower body in goaf is constructed.By means of coordinate translation and rotation in geometry,the normalization method for the base center coordinate is obtained.The above algorithms together constitute the related solution theory of the measurement system.(4)Combining the requirements of the subject and the structure of the tower,based on the in-depth study of the relevant theories of the disturbance measurement of the tower base of the goaf,using embedded technology,sensor technology,wireless communication technology and related knowledge to complete the measurement system hardware design.Hardware design mainly includes power circuit design,single-chip minimum system circuit design,attitude data acquisition circuit design,laser ranging circuit design,Bluetooth data transmission circuit design,battery power acquisition circuit design.(5)Combining Free RTOS operating system to complete the task program design of the disturbance measurement system of the tower base.Application task programs include main function and start task,PTZ pitch angle data acquisition task,PTZ heading angle data acquisition task,transmission tower base distance measurement task,data frame packaging and sending task,battery power monitoring task,etc.In addition,the unity 3D software is used to develop the display interface of the tower base,which completes the data processing and display.(6)Complete the test of the measurement system function.After debugging the system structure and system hardware and software in the laboratory,conduct field tests in the laboratory,design and implement the test experiment plan.The data collected by the system is compared with the actual data to analyze the error.Continue to further optimize the measurement system to speed up the application of the measurement system in the field of power detection.