CN115468482B - Civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning - Google Patents
Civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning Download PDFInfo
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- CN115468482B CN115468482B CN202210978199.XA CN202210978199A CN115468482B CN 115468482 B CN115468482 B CN 115468482B CN 202210978199 A CN202210978199 A CN 202210978199A CN 115468482 B CN115468482 B CN 115468482B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/16—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring the deformation in a solid, e.g. by resistance strain gauge
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
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Abstract
The invention relates to a civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning, which is based on the separable connection between an unmanned aerial vehicle (2) in a control subsystem and a field subsystem (1) in an electromagnetic mode, wherein the unmanned aerial vehicle (2) realizes large-scale lifting for the field subsystem (1), completes monitoring efficiency of civil engineering of various fields by combining wireless communication transmission between the field subsystem (1) and a terminal, adopts regular tetrahedral shape design for a device box for accommodating a monitoring core device (11) in the field subsystem (1), can effectively apply the ground with different flatness in a set scene, provides a triaxial self-balancing bracket (118) for the monitoring core device (11) in the field subsystem (1), keeps the stability of the self-posture of the monitoring core device (11), and introduces a photovoltaic power generation panel (12) design for each face of the device box; the whole technical scheme has very important significance for realizing the surface displacement self-adaptive wireless monitoring system for installation and use in a large range.
Description
Technical Field
The invention relates to a civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning, and belongs to the technical field of civil engineering monitoring.
Background
In recent years, along with the rapid development of Chinese economy, a large number of civil engineering structures are built. Due to design defects, natural disasters or aging diseases, structural damage is easily generated in the structure in service, and the structure is mainly characterized in that deformation is gradually increased. If the monitoring and repairing are not available timely and effectively, structural failure is easy to occur under extreme conditions, and the huge losses of lives and properties of countries and people are caused. However, the daily periodic detection frequency of the structure in service in remote and difficult regions is low, the requirement of structural health safety monitoring is difficult to fully meet, and the traditional structural health monitoring system is huge in size and difficult to install in difficult environments.
Therefore, aiming at the service structure in remote areas and difficult environments, the invention provides the surface displacement self-adaptive wireless monitoring system which has low cost, easy installation, high precision and capability of being installed and used in a large range, and has very important significance.
Disclosure of Invention
The technical problem to be solved by the invention is to provide the civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning, which has the advantages of low cost, easy installation and high precision, and has very important significance for realizing a surface displacement self-adaptive wireless monitoring system for installation and use in a large range.
The invention adopts the following technical scheme for solving the technical problems: the invention designs a civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning, which comprises a control subsystem and a field subsystem; the control subsystem comprises an unmanned plane, an electromagnet, a detection control terminal and a first wireless communication module; the electromagnet is connected with the bottom of the unmanned aerial vehicle, and the detection control terminal is connected with the first wireless communication module;
the field subsystem comprises a device box body, at least one magnetic attraction piece and a monitoring core device which is arranged in the device box body and comprises a target sensing module, a second wireless communication module and a power supply module; the magnetic attraction pieces are respectively arranged on the surface of the device box body, the power supply module is connected with the target sensing module for supplying power, the target sensing module is connected with the second wireless communication module, and the target sensing module is used for executing sensing detection on preset target type parameters;
the electromagnet connected with the unmanned aerial vehicle is electrically controlled and detachably connected with the magnetic attraction piece on the surface of the device box body, so that the electromagnet is detachably connected with the device box body; based on the wireless communication connection between the first wireless communication module and the second wireless communication module, data transmission and instruction receiving and transmitting between the detection control terminal and the target sensing module are realized.
As a preferred technical scheme of the invention: the monitoring core device further comprises a triaxial self-balancing bracket consisting of a circular ring, a first semicircular ring and a second semicircular ring, wherein the distance between the two ends of the first semicircular ring is matched with the diameter of the circular ring, the two ends of the first semicircular ring are respectively and movably connected with two positions corresponding to the diameter of the circular ring, the first semicircular ring freely rotates by taking the connecting line between the two ends of the first semicircular ring as an axis, the distance between the two ends of the second semicircular ring is matched with the diameter of the circular ring, the two ends of the second semicircular ring are respectively and movably connected with two positions corresponding to the diameter of the circular ring, the second semicircular ring freely rotates by taking the connecting line between the two ends of the second semicircular ring as an axis, the connecting line between the two ends of the first semicircular ring is perpendicular to the connecting line between the two ends of the second semicircular ring, and the first semicircular ring and the second semicircular ring are not contacted with each other; the second wireless communication module is arranged on the upper surface of the target sensing module, the power supply module is arranged on the lower surface of the target sensing module, and the three integrated structures are arranged at the middle point position of the inner side of the first semicircular ring; the second semicircle ring is fixedly arranged in the device box body.
As a preferred technical scheme of the invention: the monitoring core device further comprises a GNSS antenna connected with the target sensing module, the GNSS antenna is arranged at the central position of the upper surface of the target sensing module, the power module is arranged at the central position of the lower surface of the target sensing module, the mass center positions of the GNSS antenna, the target sensing module, the second wireless communication module and the overall structure of the power module coincide with the centroid positions of the GNSS antenna, the straight line of the GNSS antenna is positioned on the surface of the first semicircle and passes through the midpoint position of the first semicircle, and the working end of the GNSS antenna is opposite to the inner side of the first semicircle; the target sensing module executes sensing detection on preset target type parameters according to satellite observation data obtained from the GNSS antenna.
As a preferred technical scheme of the invention: the monitoring core device also comprises a spring type power contact and a power line component, the power supply module is a power management chip, the device box body comprises four equilateral triangle photovoltaic power generation plates with the same size, the four photovoltaic power generation plates are connected in an edge-to-edge mode to form a regular tetrahedron, namely the device box body, wherein the electric energy output ends on the inner side surfaces of the three photovoltaic power generation plates are respectively connected with one end of each power line in a one-to-one correspondence manner, and the other ends of the power lines are converged on the inner side surfaces of the rest of the photovoltaic power generation plates and are connected with the electric energy output ends on the inner side surfaces of the rest of the photovoltaic power generation plates to form a photovoltaic electric energy output end; the photovoltaic power generation device comprises a three-axis self-balancing bracket, a photovoltaic power generation module, a power line assembly, a power management chip, a spring type power contact, a photovoltaic power output end, a power management chip and a target sensing module, wherein the middle point position on the outer side of a second semicircular ring in the three-axis self-balancing bracket is fixedly arranged on the inner side surface of a photovoltaic power generation plate converged by each power line; each magnetic attraction piece is arranged on the surface of the regular tetrahedron of the device box body.
As a preferred technical scheme of the invention: based on the electric energy output end on the medial surface of three photovoltaic power generation boards, one end on each power line is connected in a one-to-one correspondence respectively, and the other end on each power line gathers to the medial surface of remaining one photovoltaic power generation board, and connect the electric energy output end on the medial surface of remaining this piece photovoltaic power generation board, constitute photovoltaic electric energy output end, to the power line that electric energy output end links to on this three photovoltaic power generation board, each power line carries out the walking line at its corresponding photovoltaic power generation board medial surface respectively in straight line form, and directly extends to dock on the medial surface of the photovoltaic power generation board that the power line gathered, second semicircle ring place face and the medial surface of the concentrated photovoltaic power generation board that gathers of each power line in the triaxial self-balancing support are mutually perpendicular.
As a preferred technical scheme of the invention: the number of the magnetic attraction pieces is four, each magnetic attraction piece is a regular triangle with the same size, four corners of the regular tetrahedron of the device box body are cut into gaps with the same size as the magnetic attraction pieces, and each magnetic attraction piece is arranged at four corner positions of the regular tetrahedron of the device box body.
As a preferred technical scheme of the invention: based on the electric energy output end on the medial surface of three photovoltaic power generation boards, one end on each power line is connected in one-to-one correspondence respectively, and the other end on each power line gathers to the medial surface of remaining one photovoltaic power generation board on, and connect the electric energy output end on the medial surface of remaining this piece photovoltaic power generation board, constitute photovoltaic electric energy output end, and the magnetism that the piece photovoltaic power generation board was faced to is inhaled a surface and is adopted and be distinguished in other magnetism to inhale the colour on a surface.
As a preferred technical scheme of the invention: the monitoring core device further comprises a rechargeable battery module, the power management chip is connected with the rechargeable battery module, and the power management chip is arranged on the lower surface of the target sensing module.
As a preferred technical scheme of the invention: the power line assembly carries out a walking line along a second semicircular ring in the triaxial self-balancing bracket.
As a preferred technical scheme of the invention: the monitoring core device further comprises a local storage module, and the target perception module is connected with the local storage module.
Compared with the prior art, the civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning has the following technical effects:
the invention designs a civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning, which comprises a control subsystem and a field subsystem, wherein based on the separable connection between an electromagnetic mode and the field subsystem of an unmanned aerial vehicle in the control subsystem, the unmanned aerial vehicle realizes large-scale lifting for the field subsystem, and completes monitoring efficiency of civil engineering on various fields by combining wireless communication transmission between the field subsystem and a terminal; the whole technical scheme has the advantages of low cost, easy installation and high precision, and has very important significance for realizing a surface displacement self-adaptive wireless monitoring system for installation and use in a large range;
the civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning solves the problems that the traditional civil engineering deformation monitoring equipment based on Beidou GNSS is huge in size, difficult to arrange in difficult environments, complex to install and inconvenient to transmit data; the unmanned aerial vehicle is designed to be installed in a hoisting way, can be used for long-term on-site layout, receives instructions and transmits data in a wireless way, and solves the problems that the data transmission of a wired system is easy to be interfered by complex on-site environments, the cable laying and maintenance cost is high, the wiring workload is large and the like; the gravity type triaxial self-balancing bracket is used, so that the Beidou satellite observation antenna can be self-adaptively and vertically upwards, and the field requirement on the field is reduced; and the tetrahedral solar cell panel is adopted, so that monitoring nodes can be turned over under extreme conditions, and continuous on-site monitoring is kept.
Drawings
FIG. 1 is an application schematic diagram of a civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning;
FIG. 2 is a schematic diagram of an in-situ subsystem architecture in accordance with the present invention;
FIG. 3 is a schematic diagram of an explosive structure of a monitoring core apparatus in accordance with the present invention;
fig. 4 is a schematic diagram of a civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning. The system comprises a field subsystem, a monitoring core device, a GNSS antenna, a second wireless communication module, a target sensing module, a power line assembly, a power management chip, a rechargeable battery module, a spring type power contact, a triaxial self-balancing bracket, a photovoltaic power generation plate, a power line, a unmanned aerial vehicle, a lifting height adjusting module, a unmanned aerial vehicle control console, an electromagnet, a detection control terminal, a first wireless communication module, a Beidou rtk reference station and a detection control terminal.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
The invention designs a civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning, which is particularly designed to comprise a control subsystem and a field subsystem 1 as shown in fig. 1 in practical application; the control subsystem comprises an unmanned aerial vehicle 2, an electromagnet 32, a detection control terminal 4 and a first wireless communication module 5; the electromagnet 32 is connected to the bottom of the unmanned aerial vehicle 2, and the detection control terminal 4 is connected with the first wireless communication module 5.
As shown in fig. 2, the field subsystem 1 includes a device box, at least one magnetic attraction member, and a monitoring core device 11 disposed in the device box and including a target sensing module 113, a second wireless communication module 112, and a power module; wherein, each magnetic attraction piece is respectively arranged on the surface of the device box body, the power module is connected with the target sensing module 113 for supplying power, the target sensing module 113 is connected with the second wireless communication module 112, and the target sensing module 113 is used for executing sensing detection on preset target type parameters.
As shown in fig. 1 and fig. 4, an electromagnet 32 connected with the unmanned aerial vehicle 2 is electrically controlled and detachably connected with a magnetic attraction piece on the surface of a device box body, so that the electromagnet 32 is detachably connected with the device box body; based on the wireless communication connection between the first wireless communication module 5 and the second wireless communication module 112, data transmission and instruction receiving and transmitting between the detection control terminal 4 and the target sensing module 113 are realized.
In practical application, unmanned aerial vehicle 2 realizes flight control based on the location of satellite rtk reference station, carries out the transportation to on-the-spot subsystem 1 to with regard to unmanned aerial vehicle 2 through the handling of electro-magnet 32 to on-the-spot subsystem 1, to unmanned aerial vehicle 2, further design and add lifting height adjustment module 21, adjust the handling height when handling on-the-spot subsystem 1 promptly.
For the monitoring core device 11, as shown in fig. 3, on the basis of including the target sensing module 113, the second wireless communication module 112 and the power module, the specific design further includes a triaxial self-balancing bracket 118 composed of a ring, a first semicircle and a second semicircle, wherein the distance between the two ends of the first semicircle is adapted to the diameter of the ring, the two ends of the first semicircle are respectively and movably connected with two positions corresponding to the diameter of the ring, the first semicircle freely rotates with the connecting line between the two ends of the first semicircle as an axis, the distance between the two ends of the second semicircle is adapted to the diameter of the ring, the two ends of the second semicircle are respectively and movably connected with two positions corresponding to the diameter of the ring, the second semicircle freely rotates with the connecting line between the two ends of the second semicircle as an axis, the connecting line between the two ends of the first semicircle is perpendicular to the connecting line between the two ends of the second semicircle, and the first semicircle and the second semicircle are not contacted with each other; the second wireless communication module 112 is arranged on the upper surface of the target sensing module 113, the specific target sensing module 113 is connected with the second wireless communication module 112 through an SMA female port interface, the power supply module is arranged on the lower surface of the target sensing module 113, and the three integral structures are arranged at the middle point position of the inner side of the first semicircular ring; the second semicircle ring is fixedly arranged in the device box body.
By the independent free rotation of the circular ring and the first semicircular ring, the overall structural posture can be kept as far as possible by combining the gravity centers of the power module and the modules connected with the power module.
In practical applications, as shown in fig. 2 and fig. 3, the monitoring core device 11 is further designed to further include a GNSS antenna 111 connected to the target sensing module 113, where the GNSS antenna 111 is disposed at a central position of an upper surface of the target sensing module 113, the power module is disposed at a central position of a lower surface of the target sensing module 113, and centroid positions of the GNSS antenna 111, the target sensing module 113, the second wireless communication module 112, and an integral structure of the power module are coincident with centroid positions of the GNSS antenna 111, and a straight line of the GNSS antenna 111 is located on a plane where the first semicircle is located and passes through a midpoint position on the first semicircle, and a working end of the GNSS antenna 111 faces away from an inner side of the first semicircle; the target sensing module 113 performs sensing detection on the preset target type parameter according to satellite observation data obtained from the GNSS antenna 111.
The design of the tri-axial self-balancing stand 118, in combination with the power module and the center of gravity of each module connected thereto, can maintain the upward attitude of the GNSS antenna 111 as much as possible.
Regarding the power supply to the monitoring core device 11, in practical application, as shown in fig. 2 and 3, the monitoring core device 11 is designed to further include a spring-type power contact 117 and a power line assembly 114, the power supply module is a power management chip 115, the device box body includes four equilateral triangle photovoltaic power generation panels 12 with the same size, the four photovoltaic power generation panels 12 are connected side by side to form a regular tetrahedron, that is, the device box body, wherein the power output ends on the inner sides of the three photovoltaic power generation panels 12 are respectively connected with one end on each power line in a one-to-one correspondence manner, and the other ends on each power line are converged on the inner sides of the rest of the photovoltaic power generation panels 12 and are connected with the power output ends on the inner sides of the rest of the photovoltaic power generation panels 12 to form a photovoltaic power output end; the middle point position on the outer side of the second semicircular ring in the triaxial self-balancing bracket 118 is fixedly arranged on the inner side surface of the photovoltaic power generation panel 12 converged by each power line, the spring type power contact 117 is arranged at the middle point position of the second semicircular ring, and the spring type power contact 117 is embedded in the second semicircular ring of the triaxial self-balancing bracket 118, so that the reliable connection between the power line assembly 114 and the photovoltaic power generation panel 12 can be maintained when the unmanned aerial vehicle is thrown or impacted by the deformation field subsystem 1; the photovoltaic power output end is connected with one end of the spring type power contact 117, the other end of the spring type power contact 117 is connected with the power management chip 115 through the power line component 114, and the power management chip 115 receives the power output by the spring type power contact 117 and supplies power to the target sensing module 113; each magnetic attraction piece is arranged on the surface of the regular tetrahedron of the device box body.
In practical applications, the power cord assembly 114 is designed to travel along the second semicircular ring in the triaxial self-balancing stand 118; the design of the photovoltaic power generation plate 12 to the power supply module is continued, based on the fact that the electric energy output ends on the inner side surfaces of the three photovoltaic power generation plates 12 are respectively connected with one end of each power line in a one-to-one correspondence mode, the other ends of the power lines are converged on the inner side surface of the rest of the photovoltaic power generation plates 12 and are connected with the electric energy output ends on the inner side surfaces of the rest of the photovoltaic power generation plates 12, the photovoltaic power output ends are formed, the power lines are respectively connected with the power lines on the three photovoltaic power generation plates 12 in a linear mode, the power lines respectively run on the inner side surfaces of the corresponding photovoltaic power generation plates 12 and directly extend to the inner side surfaces of the photovoltaic power generation plates 12 converged by the power lines to be butted, and the second semicircular ring surface in the triaxial self-balancing bracket 118 is perpendicular to the inner side surfaces of the photovoltaic power generation plates 12 converged by the power lines.
Regarding the design of each magnetic attraction piece under the design of the regular tetrahedron device box body, the number of the magnetic attraction pieces is further specifically designed to be four, each magnetic attraction piece is a regular triangle with the same size, the four corners of the regular tetrahedron of the device box body are cut into gaps with the same size as the magnetic attraction pieces, and each magnetic attraction piece is respectively arranged at the four corner positions of the regular tetrahedron of the device box body; and based on the electric energy output ends on the inner side surfaces of the three photovoltaic power generation plates 12 are respectively connected with one end of each power line in a one-to-one correspondence manner, and the other ends of the power lines are converged on the inner side surface of the rest of the photovoltaic power generation plates 12 and are connected with the electric energy output ends on the inner side surfaces of the rest of the photovoltaic power generation plates 12 to form the photovoltaic electric energy output ends, the surfaces of the magnetic attraction pieces facing the rest of the photovoltaic power generation plates 12 are designed to be distinguished by adopting colors different from the surfaces of other magnetic attraction pieces, such as the magnetic attraction pieces facing the rest of the photovoltaic power generation plates 12 are designed to be red and the rest of the magnetic attraction pieces are designed to be white, so that the concentrated photovoltaic power generation plates 12 converged by the power lines can be clearly determined from the outer appearance of the device box body, the electric control magnetic attraction of the magnetic attraction piece for distinguishing the colors can keep the concentrated photovoltaic power generation plates 12 collected by the power lines to be positioned right below, and in the placement of the device box body, the photovoltaic power generation plates 12 are placed at the lowest position, so that the design is adopted, the power lines connected with the electric energy output ends of the photovoltaic power generation plates 12 based on the non-power line collection are respectively connected with the power lines in a straight line mode on the inner side surfaces of the corresponding photovoltaic power generation plates 12 and directly extend to the inner side surfaces of the photovoltaic power generation plates 12 collected by the power lines to be butted, and thus under the design that the three-axis self-balancing bracket 118 keeps the upward posture of the GNSS antenna 111 as much as possible, the power lines can be prevented from passing through the upper part of the GNSS antenna 111 to the maximum extent, and the influence on the operation of the GNSS antenna 111 can be reduced to the maximum extent; in practical application, each magnetic attraction piece is specifically designed to be made of tempered martensitic stainless steel capable of being magnetically attracted.
The application of cooperation photovoltaic power generation board 12, further design monitoring core device 11 still includes rechargeable battery module 116, power management chip 115 is connected with rechargeable battery module 116, and power management chip 115 sets up in the lower surface of target perception module 113, like this when realizing photovoltaic power supply to monitoring core device 11, provides the electric energy and stores the design, can effectively use the power supply under the condition that light environment is bad.
The civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning is applied to practice, the monitoring core device 11 further comprises a local storage module 119, the target sensing module 113 is connected with the local storage module 119, when data transmission and command receiving and transmitting are carried out between the detection control terminal 4 and the target sensing module 113 in a wireless communication mode, if a wireless communication signal is unstable, the target sensing module 113 in the monitoring core device 11 can temporarily store detection data to the local storage module 119, after the wireless communication signal is converted, the detection data in the local storage module 119 is forwarded to the detection control terminal 4, the feedback of the detection data is continuously realized, and in practice, the local storage module 119 adopts a tf card mode. In practical application, the positioning and data transmission of satellite data are performed by using Beidou satellite positioning and data transmission, namely, the positioning and data transmission are performed based on the Beidou rtk reference station 6, but in practical application, the positioning and data transmission of satellite data are not limited to Beidou, and other satellite positioning modes can be selected.
The civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning is applied to practice, and the specific operation is as follows.
And (2) mounting: the electromagnet 32 of the unmanned plane 2 is attracted with the red mark fixed point 14 of the field subsystem 1, and the length of the hoisting height adjusting module 21 is adjusted, so that the field subsystem 1 stably moves in the air during the hoisting. After the unmanned aerial vehicle 2 is controlled to reach a designated position by using the unmanned aerial vehicle control console 3, the height of the unmanned aerial vehicle 2 is reduced, after fine adjustment of the release position is carried out by image data transmitted back by a camera below the unmanned aerial vehicle, the unmanned aerial vehicle control console 3 sends an instruction to close the electromagnet 32 power supply, the field subsystem 1 is separated from the unmanned aerial vehicle 2, the unmanned aerial vehicle 2 flies away, and the field subsystem 1 is installed.
Activation and field test: the detection control terminal 4 activates the designed on-site subsystem 1 from the sleep mode by adopting a wireless instruction mode through the first wireless communication module 2, and sets the node as the test mode. The node observes the Beidou satellite data through the GNSS antenna 111, the displacement intelligent perception module 113 carries out rough solution on the satellite observation data to obtain longitude and latitude data of the observation point position, the longitude and latitude data are transmitted back to the terminal through the second wireless communication module 112 and the first wireless communication module 5, the site test is finished, and the node resumes the dormant state. If the field test fails, the unmanned aerial vehicle 2 flies above the field subsystem 1, turns on the controllable electromagnet 32 and causes it to attract the red 14 or white marked fixed point 15, bringing the field subsystem 1 back.
And (3) instruction release: the detection control terminal 4 activates the designed field subsystem 1 from a sleep mode by adopting a wireless instruction mode through the first wireless communication module 2, sets a node as a monitoring mode, selects from two working modes of constant-interval long-term monitoring and time counting monitoring, and sets monitoring time interval and monitoring frequency information (no information exists in long-term monitoring). After the setting is successful, the field subsystem 1 returns state confirmation information to the detection control terminal 4;
and (3) real-time monitoring: the self-adaptive monitoring node 1 obtains the Beidou satellite observation data with the time stamp through the GNSS antenna 111, synchronously obtains the Beidou satellite observation data of the Beidou rtk reference station 6, calibrates the observation result of the self-adaptive monitoring node 1 by utilizing the data of the Beidou rtk reference station 6, and improves the accuracy of the observation data. And resolving high-precision longitude and latitude coordinates and elevation data of the current point by using the calibrated Beidou satellite observation data.
Data is stored in the backhaul: the calculated high-precision longitude and latitude coordinates and elevation data are backed up in a local storage module and are sent back to the detection control terminal 4 in a wireless mode, when wireless transmission fails, the transmission failure data are marked, when a wireless transmission channel is recovered to be normal, the marked data are retransmitted, and corresponding marks are cleared. After the data is transmitted back to the terminal, the displacement data of the field subsystem 1 is calculated based on the high-precision longitude and latitude coordinates and the elevation data, and the displacement data is further improved in precision through a Kalman filtering method and the like.
Device dormancy: when the on-site subsystem 1 in the counting monitoring mode collects enough times of monitoring data or the on-site subsystem 1 in the real-time automatic monitoring mode in an equidistant long-term monitoring mode receives a dormancy instruction of the terminal, the monitoring task is ended, and the on-site subsystem 1 resumes a dormancy state and waits for the next activation.
The civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning comprises a control subsystem and a field subsystem 1, wherein based on the separable connection between an electromagnetic mode of an unmanned aerial vehicle 2 in the control subsystem and the field subsystem 1, the unmanned aerial vehicle 2 realizes large-scale lifting for the field subsystem 1, and is combined with wireless communication transmission between the field subsystem 1 and a terminal to complete monitoring efficiency of civil engineering on various fields, in a specific structural design, a regular tetrahedral shape design is adopted for a device box body for accommodating a monitoring core device 11 in the field subsystem 1, the ground with different flatness can be effectively applied, the stability of placement is always kept, a triaxial self-balancing bracket 118 is provided for the setting of the monitoring core device 11 in the field subsystem 1, the stability of the self-posture of the monitoring core device 11 is kept, in addition, a photovoltaic power generation panel 12 design is further introduced for each face of the device box body, a mode of longer endurance is provided for the field subsystem 1, in addition, the layout of each photovoltaic power generation panel 12 is reasonable, and the influence on the field subsystem 1 is reduced; the whole technical scheme has the advantages of low cost, easy installation and high precision, and has very important significance for realizing the surface displacement self-adaptive wireless monitoring system for installation and use in a large range.
The design system of the invention solves the problems that the traditional civil engineering deformation monitoring equipment based on Beidou GNSS is huge in volume, difficult to arrange and install in difficult environments and inconvenient in data transmission; the unmanned aerial vehicle is designed to be installed in a hoisting way, can be used for long-term on-site layout, receives instructions and transmits data in a wireless way, and solves the problems that the data transmission of a wired system is easy to be interfered by complex on-site environments, the cable laying and maintenance cost is high, the wiring workload is large and the like; the gravity type triaxial self-balancing bracket is used, so that the Beidou satellite observation antenna can be self-adaptively and vertically upwards, and the field requirement on the field is reduced; and the tetrahedral solar cell panel is adopted, so that monitoring nodes can be turned over under extreme conditions, and continuous on-site monitoring is kept.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. Civil engineering deformation self-adaptive monitoring system based on Beidou GNSS positioning, and is characterized in that: comprises a control subsystem and a field subsystem (1); the control subsystem comprises an unmanned plane (2), an electromagnet (32), a detection control terminal (4) and a first wireless communication module (5); the electromagnet (32) is connected with the bottom of the unmanned aerial vehicle (2), and the detection control terminal (4) is connected with the first wireless communication module (5);
the field subsystem (1) comprises a device box body, at least one magnetic attraction piece and a monitoring core device (11) which is arranged in the device box body and comprises a target sensing module (113), a second wireless communication module (112) and a power supply module; the magnetic attraction pieces are respectively arranged on the surface of the device box body, the power supply module is connected with the target perception module (113) for supplying power, the target perception module (113) is connected with the second wireless communication module (112), and the target perception module (113) is used for executing perception detection on preset target type parameters;
the electromagnet (32) connected with the unmanned aerial vehicle (2) is electrically controlled and detachably connected with a magnetic attraction piece on the surface of the device box body, so that the separable connection between the electromagnet (32) and the device box body is realized; based on the wireless communication connection between the first wireless communication module (5) and the second wireless communication module (112), the data transmission and instruction receiving and transmitting between the detection control terminal (4) and the target perception module (113) are realized.
2. The civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 1, wherein: the monitoring core device (11) further comprises a triaxial self-balancing bracket (118) which is composed of a circular ring, a first semicircular ring and a second semicircular ring, wherein the distance between the two ends of the first semicircular ring is matched with the diameter of the circular ring, the two ends of the first semicircular ring are respectively and movably connected with two positions corresponding to the diameter of the circular ring, the first semicircular ring freely rotates by taking the connecting line between the two ends of the first semicircular ring as an axis, the distance between the two ends of the second semicircular ring is matched with the diameter of the circular ring, the two ends of the second semicircular ring are respectively and movably connected with two positions corresponding to the diameter of the circular ring, the second semicircular ring freely rotates by taking the connecting line between the two ends of the second semicircular ring as an axis, the connecting line between the two ends of the first semicircular ring is perpendicular to the connecting line between the two ends of the second semicircular ring, and the first semicircular ring and the second semicircular ring are not contacted with each other; the second wireless communication module (112) is arranged on the upper surface of the target sensing module (113), the power supply module is arranged on the lower surface of the target sensing module (113), and the three integrated structures are arranged at the middle point position of the inner side of the first semicircular ring; the second semicircle ring is fixedly arranged in the device box body.
3. The civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 2, wherein: the monitoring core device (11) further comprises a GNSS antenna (111) connected with the target sensing module (113), the GNSS antenna (111) is arranged at the central position of the upper surface of the target sensing module (113), the power supply module is arranged at the central position of the lower surface of the target sensing module (113), the mass center positions of the GNSS antenna (111), the target sensing module (113), the second wireless communication module (112) and the integrated structure of the power supply module are coincident with the centroid positions of the GNSS antenna (111), the straight line of the GNSS antenna (111) is positioned on the plane of the first semicircle and passes through the middle point position on the first semicircle, and the working end of the GNSS antenna (111) is opposite to the inner side of the first semicircle; the target perception module (113) executes perception detection of preset target type parameters according to satellite observation data obtained from the GNSS antenna (111).
4. A civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 2 or 3, characterized in that: the monitoring core device (11) further comprises spring type power contacts (117) and a power line assembly (114), the power supply module is a power management chip (115), the device box body comprises four equilateral triangle photovoltaic power generation plates (12) with the same size, the four photovoltaic power generation plates (12) form a regular tetrahedron in an edge-to-edge connection mode, namely the device box body, wherein the electric energy output ends on the inner side surfaces of the three photovoltaic power generation plates (12) are respectively connected with one end of each power line in a one-to-one correspondence manner, the other ends on each power line are converged on the inner side surface of the rest of the photovoltaic power generation plates (12) and are connected with the electric energy output ends on the inner side surfaces of the rest of the photovoltaic power generation plates (12), and a photovoltaic electric energy output end is formed; the middle point position of the outer side of the second semicircular ring in the triaxial self-balancing bracket (118) is fixedly arranged on the inner side surface of the photovoltaic power generation plate (12) converged by each power line, a spring type power contact (117) is arranged at the middle point position of the second semicircular ring, the photovoltaic power output end is connected with one end of the spring type power contact (117), the other end of the spring type power contact (117) is connected with a power management chip (115) through a power line component (114), and the power management chip (115) receives electric energy output by the spring type power contact (117) and supplies power to a target sensing module (113); each magnetic attraction piece is arranged on the surface of the regular tetrahedron of the device box body.
5. The civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 4, wherein: based on the electric energy output ends on the inner side surfaces of three photovoltaic power generation plates (12), one end on each power line is connected in a one-to-one correspondence mode, the other end on each power line is converged on the inner side surface of the rest photovoltaic power generation plate (12) and is connected with the electric energy output ends on the inner side surface of the rest photovoltaic power generation plate (12), the photovoltaic electric energy output ends are formed, the power lines connected with the electric energy output ends on the three photovoltaic power generation plates (12) are respectively in a straight line mode, each power line runs on the inner side surface of the corresponding photovoltaic power generation plate (12) and directly extends to the inner side surface of the photovoltaic power generation plate (12) converged by the power line to be butted, and the surface where the second semicircle ring is located in the triaxial self-balancing bracket (118) is perpendicular to the inner side surface of the converged photovoltaic power generation plate (12) by each power line.
6. The civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 4, wherein: the number of the magnetic attraction pieces is four, each magnetic attraction piece is a regular triangle with the same size, four corners of the regular tetrahedron of the device box body are cut into gaps with the same size as the magnetic attraction pieces, and each magnetic attraction piece is arranged at four corner positions of the regular tetrahedron of the device box body.
7. The civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 6, wherein: based on the electric energy output ends on the inner side surfaces of three photovoltaic power generation plates (12), one end on each power line is connected in a one-to-one correspondence mode, the other end on each power line is converged on the inner side surface of the rest of the photovoltaic power generation plates (12) and is connected with the electric energy output ends on the inner side surfaces of the rest of the photovoltaic power generation plates (12), the photovoltaic electric energy output ends are formed, and the surfaces of the magnetic attraction pieces facing the rest of the photovoltaic power generation plates (12) are distinguished by adopting colors different from the surfaces of other magnetic attraction pieces.
8. The civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 4, wherein: the monitoring core device (11) further comprises a rechargeable battery module (116), the power management chip (115) is connected with the rechargeable battery module (116), and the power management chip (115) is arranged on the lower surface of the target sensing module (113).
9. The civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 4, wherein: the power cord assembly (114) runs along a second semicircle in the triaxial self-balancing stand (118).
10. The civil engineering deformation adaptive monitoring system based on Beidou GNSS positioning according to claim 1, wherein: the monitoring core device (11) further comprises a local storage module (119), and the target perception module (113) is connected with the local storage module (119).
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| CN104457551B (en) * | 2015-01-07 | 2017-08-04 | 西南大学 | Railway bed Collapse monitor system and monitoring method |
| JP6164709B1 (en) * | 2016-05-30 | 2017-07-19 | 株式会社ａｍｕｓｅ ｏｎｅｓｅｌｆ | Structure inspection method |
| CN106297254A (en) * | 2016-10-18 | 2017-01-04 | 重庆地质矿产研究院 | GNSS multidimensional displacement monitoring system and remote data processing method thereof |
| CN109489541A (en) * | 2018-11-14 | 2019-03-19 | 中国铁路沈阳局集团有限公司科学技术研究所 | Railway slope deformation monitoring and analysis system based on Beidou measuring technique |
| CN109631740A (en) * | 2018-11-27 | 2019-04-16 | 湖北楚航电子科技有限公司 | Integrated GNSS deformation monitoring equipment |
| CN110388893B (en) * | 2019-08-16 | 2024-03-08 | 湖南联智科技股份有限公司 | Remote slope safety monitoring data acquisition device based on Beidou data communication |
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