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Article(id=1207658079911514850, tenantId=1146029695717560320, journalId=1205116883411038211, issueId=1207658076900008717, articleNumber=null, orderNo=null, doi=null, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=null, receivedDateStr=null, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1765857723453, onlineDateStr=2025-12-16, pubDate=null, pubDateStr=null, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1765857723453, onlineIssueDateStr=2025-12-16, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1765857723453, creator=13701087609, updateTime=1765857723453, updator=13701087609, issue=Issue{id=1207658076900008717, tenantId=1146029695717560320, journalId=1205116883411038211, year='2025', volume='23', issue='2', pageStart='189', pageEnd='376', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1765857722735, creator=13701087609, updateTime=1765862348176, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1207677477451833566, tenantId=1146029695717560320, journalId=1205116883411038211, issueId=1207658076900008717, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1207677477451833567, tenantId=1146029695717560320, journalId=1205116883411038211, issueId=1207658076900008717, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=304, endPage=308, ext={EN=ArticleExt(id=1207658080599380725, articleId=1207658079911514850, tenantId=1146029695717560320, journalId=1205116883411038211, language=EN, title=Design of monitoring system for transportation of material ropeway of transmission line, columnId=1207658079282373410, journalTitle=Chinese Journal of Construction Machinery, columnName=Design Manufacture and Quality Control, runingTitle=null, highlight=null, articleAbstract=

A monitoring system for transportation of material ropeway of transmission line is designed for the difficulty in fully understanding the construction process and component stress state of material ropeway of transmission line. Based on wireless ad hoc network technology, tension sensors, high-precision positioning modules, and ad hoc network devices are integrated to achieve real-time collection and transmission of monitoring data for material ropeway transportation, such as tension of carrying rope, load of steering pulley, load of running car, position of running car, speed of material transportation. By combining the refined calculation method of material ropeway, the tension of the working rope during the transportation process of the material ropeway is calculated, which is compared with the monitoring data, and the visual display of the monitoring data and image data of the material ropeway transportation is achieved to realize the real-time monitoring of the material ropeway transportation status during the construction process. Through verification tests in transmission line engineering, the effectiveness and accuracy of the monitoring system for transportation of material ropeway of transmission line have been verified, which provides technical support for the transportation safety during the construction of the material ropeway.

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针对输电线路货运索道施工运行情况和部件受力状态难以全面直观了解等问题，设计了货运索道运行过程监测系统，基于无线自组网技术并集成拉力传感器、高精度定位模块和无线自组网设备，实现包括货运索道运行过程承载索张力、转向滑车载荷、运行小车载荷、运行位置、物料运输速度等监测数据实时采集和传输。结合货运索道精细化计算方法计算货运索道运行过程工作索张力，并与监测数据进行对比分析，可视化展示货运索道运行监测数据及影像数据，实现施工过程货运索道运行状态实时监测。通过输电线路工程中的验证试验，验证了输电线路货运索道运行过程监测系统的有效性和准确性，为货运索道施工过程运行安全提供技术支持。

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刘晨（1990—），男，高级工程师，硕士。E-mail：

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刘晨（1990—），男，高级工程师，硕士。E-mail：

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刘晨（1990—），男，高级工程师，硕士。E-mail：

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Parameters of mechanical measurement equipment

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序号型号数量/个精度FS/%备注
110 t20.3测量索道承载索张力，包括首端和末端
25 t 20.3测量转向滑车载荷（牵引索通过转向滑车包络角按90°计算，转向滑车载荷为1.4倍牵引索载荷），包括首端和末端
33 t10.3测量运行小车载荷（运输物料载荷）
), ArticleFig(id=1207748677658054907, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658079911514850, language=CN, label=表1, caption=

力学测量设备参数表

, figureFileSmall=null, figureFileBig=null, tableContent=
序号型号数量/个精度FS/%备注
110 t20.3测量索道承载索张力，包括首端和末端
25 t 20.3测量转向滑车载荷（牵引索通过转向滑车包络角按90°计算，转向滑车载荷为1.4倍牵引索载荷），包括首端和末端
33 t10.3测量运行小车载荷（运输物料载荷）
), ArticleFig(id=1207748677754523904, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658079911514850, language=EN, label=Tab.2, caption=

Parameters of high precision positioning module

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序号项目技术参数
1定位装置水平距离L精度SPPRTK
1.5 m8 mm
2定位装置垂直距离H精度SPPRTK
3 m15 mm
3通信方式系统采用自组组网方式
4无线传输距离2 000 m
), ArticleFig(id=1207748677880353030, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658079911514850, language=CN, label=表2, caption=

高精度定位模块参数表

, figureFileSmall=null, figureFileBig=null, tableContent=
序号项目技术参数
1定位装置水平距离L精度SPPRTK
1.5 m8 mm
2定位装置垂直距离H精度SPPRTK
3 m15 mm
3通信方式系统采用自组组网方式
4无线传输距离2 000 m
), ArticleFig(id=1207748677976822031, tenantId=1146029695717560320, journalId=1205116883411038211, articleId=1207658079911514850, language=EN, label=Tab.3, caption=

Data collection by device of monitoring system for transportation of material ropeway of transmission line

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序号设备名称设备组成采集数据备注
1运行设备运行小车拉力传感器、移动终端模块（含高精度定位模块、摄像头），并集成电池、数据采集单元1.运行小车载荷运行小车拉力数据
2.运行位置和物料运输速度高精度定位模块数据
3.影像数据—
2首/末端设备索道上、下料点处首/末端拉力传感器（承载索、转向滑车）、基准站模块，并集成电池、数据采集单元1.承载索张力承载索拉力数据
2.转向滑车载荷牵引索拉力数据
3中继站设备中继站模块，并集成电池、数据采集单元传输运行设备、首/末端设备数据—
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货运索道运行过程监测系统装置采集数据

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序号设备名称设备组成采集数据备注
1运行设备运行小车拉力传感器、移动终端模块（含高精度定位模块、摄像头），并集成电池、数据采集单元1.运行小车载荷运行小车拉力数据
2.运行位置和物料运输速度高精度定位模块数据
3.影像数据—
2首/末端设备索道上、下料点处首/末端拉力传感器（承载索、转向滑车）、基准站模块，并集成电池、数据采集单元1.承载索张力承载索拉力数据
2.转向滑车载荷牵引索拉力数据
3中继站设备中继站模块，并集成电池、数据采集单元传输运行设备、首/末端设备数据—
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Test conditions of single span material ropeway

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试验序号载荷类型载荷间距/m载荷质量/kg
载荷1载荷2
1单载荷—1 700—
2多载荷21425850
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单挡货运索道试验工况

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试验序号载荷类型载荷间距/m载荷质量/kg
载荷1载荷2
1单载荷—1 700—
2多载荷21425850
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输电线路货运索道运行过程监测系统设计
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刘晨 1 , 秦剑 1 , 张飞凯 1 , 陈玮雨 2 , 任孝武 3
中国工程机械学报 | 设计制造与质量控制 2025,23(2): 304-308
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中国工程机械学报 | 设计制造与质量控制 2025, 23(2): 304-308
输电线路货运索道运行过程监测系统设计
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刘晨1 , 秦剑1, 张飞凯1, 陈玮雨2, 任孝武3
作者信息
  • 1.中国电力科学研究院有限公司，北京 100055
  • 2.国网福建省电力有限公司，福建 福州 350003
  • 3.北京智芯微电子科技有限公司，北京 100089

    • 刘晨（1990—），男，高级工程师，硕士。E-mail：

Design of monitoring system for transportation of material ropeway of transmission line
Chen LIU1 , Jian QIN1, Feikai ZHANG1, Weiyu CHEN2, Xiaowu REN3
Affiliations
  • 1. China Electric Power Research Institute, Beijing 100055, China
  • 2. State Grid Fujian Electric Power Co., Ltd., Fuzhou 350003, Fujian, China
  • 3. Beijing Zhixin Microelectronics Technology Company, Beijing 100089, China
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摘要
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针对输电线路货运索道施工运行情况和部件受力状态难以全面直观了解等问题，设计了货运索道运行过程监测系统，基于无线自组网技术并集成拉力传感器、高精度定位模块和无线自组网设备，实现包括货运索道运行过程承载索张力、转向滑车载荷、运行小车载荷、运行位置、物料运输速度等监测数据实时采集和传输。结合货运索道精细化计算方法计算货运索道运行过程工作索张力，并与监测数据进行对比分析，可视化展示货运索道运行监测数据及影像数据，实现施工过程货运索道运行状态实时监测。通过输电线路工程中的验证试验，验证了输电线路货运索道运行过程监测系统的有效性和准确性，为货运索道施工过程运行安全提供技术支持。

输电线路  /  货运索道  /  物料运输  /  监测系统  /  无线自组网  /  高精度GPS定位

A monitoring system for transportation of material ropeway of transmission line is designed for the difficulty in fully understanding the construction process and component stress state of material ropeway of transmission line. Based on wireless ad hoc network technology, tension sensors, high-precision positioning modules, and ad hoc network devices are integrated to achieve real-time collection and transmission of monitoring data for material ropeway transportation, such as tension of carrying rope, load of steering pulley, load of running car, position of running car, speed of material transportation. By combining the refined calculation method of material ropeway, the tension of the working rope during the transportation process of the material ropeway is calculated, which is compared with the monitoring data, and the visual display of the monitoring data and image data of the material ropeway transportation is achieved to realize the real-time monitoring of the material ropeway transportation status during the construction process. Through verification tests in transmission line engineering, the effectiveness and accuracy of the monitoring system for transportation of material ropeway of transmission line have been verified, which provides technical support for the transportation safety during the construction of the material ropeway.

transmission line  /  material ropeway  /  material transportation  /  monitoring system  /  wireless AD hoc network  /  GPS positioning
刘晨, 秦剑, 张飞凯, 陈玮雨, 任孝武. 输电线路货运索道运行过程监测系统设计. 中国工程机械学报, 2025 , 23 (2) : 304 -308 .
Chen LIU, Jian QIN, Feikai ZHANG, Weiyu CHEN, Xiaowu REN. Design of monitoring system for transportation of material ropeway of transmission line[J]. Chinese Journal of Construction Machinery, 2025 , 23 (2) : 304 -308 .
正文
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目前在输电线路工程中，山区物料运输主要采用货运索道运输方式，其具有结构简单、操作简便、适用性强、工效高、受天气及环境影响小等优点[1-2]。在货运索道运输过程中，由于索道长度较大，且一般跨越多个山丘，架设支架间距大，各支架处无人看管，只能在部分支架附近观察其运行状态，难以全面直观了解货运索道运输情况，存在施工安全隐患。
输电线路施工货运索道使用较为频繁，索道各部件均为受力部件，使用过程中易磨损、变形。同时，大型塔材单件质量大、长度大，对钢丝绳的承载能力、转向滑车强度、运行小车运行高度等均提出了更高的要求。目前货运索道施工中缺乏工作索张力、运行小车运行位置等货运索道运行连续实时数据采集装备，无法实时监测货运索道运行安全状态，无法对货运索道运行风险进行及时预警[3-4]。
针对智能装备监测领域，国外Peterka等[5]通过无损探伤技术，实现对索道牵引钢丝绳疲劳断裂情况的监测。国内王佳琦等[6-8]针对客运索道采用无线传输技术研究客运索道缆车监测系统；江明等[9-10]通过集成空间姿态、载荷等参量传感监测单元设计了适用于输电线路施工的放线滑车监测系统，实现包括放线滑车的三轴姿态角度、空间位置及载荷信息等多参量数据监测。
为防止输电线路货运索道运行过程出现脱索、支架倾覆等安全事故发生，本文设计输电线路货运索道运行过程监测系统，通过集成传感器等设备感知索道运行过程中各状态信息，同时研究适用于山区施工用的通信网络系统，保证通信通畅、施工反应及时，实现货运索道施工过程监测。通过输电线路工程试验验证输电线路货运索道运行过程监测系统的有效性和准确性。
1　系统结构设计
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输电线路货运索道运行过程监测系统用于实时监测货运索道运行安全状态，包括货运索道重要部件受力状态和运行过程状态，可实现状态异常及时报警功能。系统分为3个模块：数据采集模块、数据传输模块、数据展示模块。
1.1　数据采集模块
数据采集模块集成传感器和摄像头，用于实时采集货运索道运行过程监测参数，包括力学数据、位置数据和影像数据。
（1）力学数据，包括货运索道承载索张力、转向滑车载荷、运行小车载荷。
（2）位置数据，包括运输物料运行位置、物料运输速度。
（3）影像数据，包括货运索道部件缺陷照片、索道运行过程视频。
1.2　数据传输模块
用于在无线网络环境下将数据采集模块采集的索道运行过程监测参数传输至数据展示模块。
1.3　数据展示模块
用于将采集到的货运索道运行过程监测参数进行存储，可视化展示货运索道运行过程的力学数据、位置数据、影像数据和索道运行状态计算结果数据，实现货运索道运行状态实时监测，在发生危险状况时发出报警。
2　系统硬件设计及数据传输方案
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2.1　数据采集模块选型
2.1.1　力学数据
货运索道承载索张力、转向滑车载荷、运行小车载荷为力学数据，采集方式选用拉力传感器。根据常用施工工况得到载荷范围，确定传感器型号，见表1。
拉力传感器配备锂电池和无线收发器。拉力传感器通过有线连接，锂电池用于提供电源，无线收发器用于收发传感器采集数据。拉力传感器通过集成采集板与有源蜂鸣器集成实现超载报警功能。
2.1.2　位置数据
位置数据包括经度、纬度和海拔，采集方式选用北斗定位装置。货运索道路径常跨越山头，路径通道两侧有灌木、树林等。位置数据采集设备需满足多山头、长距离，在途径通道两侧有遮挡等工况下，实时获取高精度坐标数据。为满足位置数据传输实时性和高精度要求，研发定位装置由北斗GPS卫星高精度定位模块和自组网设备组成，可实现数据传输和定位功能。
（1）高精度定位模块。
高精度定位模块采用K8-W北斗GPS卫星高精度定位全球导航卫星系统（global navigation satellite system，GNSS）模块，模块参数见表2。
（2）自组网设备。
选用无线自组网设备实现自动组网，通过无线自组网基站信号覆盖实现监测数据采集。自组网设备由一个基准站模块、多个中继站模块和一个移动终端模块组成。
基准站模块和中继站模块由基站、基站天线和电池模块组成，用于数据传输。移动终端模块集成摄像头和高精度定位模块，用于定位。
2.1.3　影像数据
影像数据为照片和视频，采集方式选用高清摄像头，选用型号为DS-2DE2D40IW-D3/W/XM，视频采集分辨率1080P，支持录像、拍照、4倍数字变焦，可360°旋转。
2.2　数据传输及装置布置方式
货运索道运行过程监测系统装置包括首端设备、末端设备、运行设备、中继站设备，通过自组网设备实现无线网络覆盖货运索道架设区域，将货运索道运行过程中的力学数据、位置数据、影像数据传输至接收终端，实现货运索道运行过程的实时监测，货运索道运行过程监测系统装置采集数据见表3。
自组网设备为运行设备、首/末端设备及视频监控摄像头传输数据提供数据通道，如设备相隔距离较远、信号弱时，可适当增加中继站设备，以满足网络覆盖需要。货运索道运行过程监测系统装置布置如图1所示。
3　系统软件设计
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货运索道运行过程监测系统根据货运索道运行过程存储采集数据，可视化展示承载索张力、转向滑车载荷、运行小车载荷、运行小车运行位置、物料运输速度等监测数据和索道运行状态计算结果数据，并展示货运索道运行过程影像数据，实现货运索道运行状态展示。系统由数据采集层、传输网络层、应用层构成，系统拓扑结构如图2所示。
货运索道运行过程监测系统软件包含2个模块，分别是货运索道运行过程监测平台和Matlab-server。
（1）接收终端货运索道运行过程监测平台负责接收并存储货运索道现场采集的实时数据，实时展示索道监测数据及设备告警信息，调用Matlab-server的远程方法调用（remote method invocation，RMI）服务。
（2）Matlab-server负责提供RMI服务接口，调用Matlab工具并且根据监测数据，结合货运索道精细化计算方法[11-14]计算索道运行状态计算结果数据，包括货运索道首、末端处工作索张力，保存至数据库。
3.1　工作索张力计算
通过计算可以得到受重力作用工作索各索段的跨距L与高差H可表示为
式中：q为索单位重力，N/m；EA为截面面积与弹性模量乘积，N；s为索段初始长度，m；FH为索段水平张力，kN；FVA为A点垂直张力，kN；FVB为B点垂直张力，kN。
工作索索段的A、B点切向张力FTA、FTB可表示为
通过式（3）和式（4）的计算得到索道运行状态计算结果数据。
3.2　数据接收及对比展示
货运索道运行过程监测系统数据接收及对比执行步骤流程如图3所示。
通过监测数据、影像数据、计算数据与监测数据对比展示，实现货运索道运行过程监测数据可视化展示及监测。结合货运索道施工流程，货运索道运行过程监测系统软件实现流程如图4所示。
4　试验结果与分析
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4.1　试验工况
在白鹤滩-浙江±800 kV特高压直流工程某标段中开展了现场验证试验，试验选用货运索道架设形式为单挡，索道总长243.183 m，档距218.183 m，高差118.668 m，承载索选用Φ20 mm钢丝绳。
分别开展单载荷和多载荷2种载荷试验，试验工况见表4。不同载荷工况重复试验3次，保证试验数据的准确性。
4.2　试验结果
4.2.1　单载荷试验
根据载荷工况，货运索道运行过程监测系统采用货运索道精细化计算方法，计算物料运输载荷在距离首端支架11、33、70、83 m的位置时的力值，并与系统装置监测值作对比分析，单载荷试验工况货运索道首端和末端承载索张力试验监测数据与计算结果对比如图5所示。
4.2.2　多载荷试验
多载荷试验工况货运索道首端和末端承载索张力试验监测数据与计算结果对比如图6所示。
当物料运输载荷在11、33、70、83 m处测量点时，单载荷试验工况监测数据与计算数据相对误差最大值为3.97%，多载荷试验工况监测数据与计算数据相对误差最大值为3.78%，两者相对误差较小，满足监测要求，验证了输电线路货运索道运行过程监测系统监测数据有效性。
5　结论
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（1）设计了输电线路货运索道运行过程监测系统，将拉力传感器、高精度定位模块和自组网设备集成为一体化设备，实现货运索道运行过程力学数据、位置数据、影像数据等实时监测。
（2）结合货运索道精细化计算方法计算货运索道运行过程工作索张力，与监测数据进行对比，可视化展示货运索道运行监测数据及影像数据，实现货运索道运行状态实时监测功能。通过输电线路工程中的验证试验，对比监测数据与计算数据相对误差在4%以下，验证了输电线路货运索道运行过程监测系统监测数据的有效性和准确性。
（3）输电线路货运索道运行过程监测系统可应用于输电线路货运索道运输施工，解决货运索道物料运输在山区远距离监控难题，实现货运索道运行全过程跟踪管理，为货运索道施工过程的安全性提供技术保障。
基金
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  • 国家电网有限公司总部科技项目(5200-202221083A-1-1-ZN)
文献
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2025年第23卷第2期
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国家电网有限公司总部科技项目(5200-202221083A-1-1-ZN)
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    1.中国电力科学研究院有限公司，北京 100055
    2.国网福建省电力有限公司，福建 福州 350003
    3.北京智芯微电子科技有限公司，北京 100089
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2种不同金属材料的力学参数
科
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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