WO2021217763A1 - Soil displacement monitoring system - Google Patents

Soil displacement monitoring system Download PDF

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Publication number
WO2021217763A1
WO2021217763A1 PCT/CN2020/091998 CN2020091998W WO2021217763A1 WO 2021217763 A1 WO2021217763 A1 WO 2021217763A1 CN 2020091998 W CN2020091998 W CN 2020091998W WO 2021217763 A1 WO2021217763 A1 WO 2021217763A1
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WO
WIPO (PCT)
Prior art keywords
inclinometer
data
monitoring system
main controller
microprocessor
Prior art date
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PCT/CN2020/091998
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French (fr)
Chinese (zh)
Inventor
***
焦迪
赵晨辉
黄清博
Original Assignee
上海菲伽智能科技有限公司
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Publication of WO2021217763A1 publication Critical patent/WO2021217763A1/en

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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
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels

Definitions

  • the invention belongs to the technical field of construction engineering, and particularly relates to a soil displacement monitoring system.
  • inclinometers are widely used to quantitatively monitor soil deformation and displacement.
  • the inclinometer data is an important basis for monitoring the deformation and displacement of the measured soil.
  • Inclination measurement refers to the use of an inclinometer to observe the horizontal displacement inside the soil.
  • an inclinometer equipped with an inclination sensor is used, and it is placed in a grooved conduit buried vertically in the measured soil to move back and forth.
  • the inclination angle of the pipe axis relative to the plumb line is measured for each segment, and the horizontal displacement value of each segment is calculated according to the segment length and the inclination angle.
  • Slotted conduit is a special plastic (or alloy aluminum) product in engineering inclinometer monitoring. It is usually called inclinometer tube. It is divided into two specifications with a diameter of 60 mm and 90 mm.
  • an inclinometer tube with a total length of 30 meters or more needs to be buried vertically (multiple inclinometer tubes are required to be connected), and the upper end of the inclinometer tube penetrates the soil to be tested The surface of the body.
  • Manual measurement is by connecting the inclinometer with a signal cable marked every 500 mm. After manual operation, the inclinometer is pre-buried perpendicular to the measured soil by pulling the signal cable. Completed in the inclinometer tube. According to the monitoring specification, from the top end of the inclinometer tube to the bottom end of the inclinometer tube, the data is read every 500 mm (that is, the distance the cable is stretched or lowered along the inclinometer tube); then, the inclinometer is read from Pull out the inclinometer tube, turn the mirror of the inclinometer over, repeat the aforementioned measurement from top to bottom, and say that one measurement is completed.
  • the invention provides a soil displacement monitoring system, which aims to solve the problem that the existing soil displacement monitoring adopts manual operation and cannot meet the actual detection efficiency, accuracy and cost.
  • One of the embodiments of the present invention is a soil displacement monitoring system, including:
  • At least one inclinometer tube is buried in the soil to be tested, and the upper opening of the inclinometer tube extends out of the soil;
  • the inclinometer assembly is placed in the inclinometer tube, and the tilt data of the inclinometer tube is collected by the movement of the inclinometer assembly in the inclinometer tube;
  • control components include:
  • the main controller is used to control the action of the lifting mechanism, and at the same time control the measurement process of the inclinometer assembly, to obtain the inclination data of the inclinometer tube collected by the inclinometer assembly, and the inclination data is used to determine the soil Displacement situation.
  • main controller includes:
  • Traction stepper motor the traction stepper motor is electrically connected to the first microprocessor for driving the lifting mechanism
  • the first short-range communication module is electrically connected to the first microprocessor, and is used for data interaction between the main controller and the inclinometer component;
  • An optical limit unit which is connected to the first microprocessor, and limits the reset position of the inclinometer assembly hoisted by the steel cable by detecting the light resistance element provided on the steel cable;
  • the wireless charging and sending unit is connected to the first microprocessor, and is used for wirelessly charging the second battery pack in the inclinometer assembly;
  • the remote communication module is connected to the first microprocessor and used for data transmission between the main controller and the remote terminal.
  • the power circuit of the main controller includes,
  • Industrial network adapter used to connect to the industrial power grid
  • a solar charging management unit, the output terminals of the industrial network adapter and the solar panel are connected to the solar charging management unit, and the switching control for the management of the industrial power grid and the solar panel and the management of solar charging are used;
  • the first battery pack unit is used to supply power to the battery of the main controller circuit
  • the first battery pack management unit, the output end of the solar charge management unit and the output end of the battery pack unit are connected to the battery pack management unit, and the first battery pack management unit is used for switching control between the battery pack and the external power supply, and Management of battery pack charging;
  • the first DC power conversion unit is connected to the output end of the first battery pack management unit, and is used to convert the voltage output by the first battery pack management unit into multiple groups of DC power sources with different voltages.
  • the inclinometer assembly includes:
  • Inclination sensor connected to the second microprocessor, used to detect the inclination angle of the inclinometer tube;
  • the second short-distance communication module is connected to the second microprocessor, and is used to transmit the inclinometer tube tilt data to the main controller in batches;
  • the photoelectric position detection sensor is connected to the second microprocessor via a comparator, and is used for positioning the initial zero angle of the inclination sensor;
  • a second stepping motor connected to a second microprocessor through a second stepping motor controller, for driving the tilt sensor to rotate along the circular section of the inclinometer tube;
  • the temperature sensor connected with the second microprocessor, is used to detect the temperature in the inclinometer tube.
  • the power circuit of the inclinometer component includes,
  • the second battery pack is the second battery pack
  • the second charging management unit After the electric energy obtained by the wireless charging receiving unit is connected to the second battery pack through the second charging management unit, it is then connected to the electric energy including the second microprocessor through the voltage conversion of the second DC power conversion unit. Describe the power circuit of the inclinometer component circuit.
  • the measurement process of the inclinometer assembly includes:
  • the inclinometer component circuit performs an optical positioning operation after receiving an activation instruction issued by the main controller.
  • the optical positioning operation refers to resetting the inclination sensor to an initial zero angle set on the circular section of the inclinometer tube;
  • S102 Wait for and receive the information including the measurement depth sent by the main controller, and calculate the number of measurement steps required according to the measurement interval according to the measurement depth;
  • the second stepping motor drives the inclinometer to rotate 90 degrees along the circular section of the inclinometer tube, and sample the offset inclination angle of the three-dimensional MEMS inclination sensor X and Y axis relative to the vertical gravity axis direction when the circular section of the inclinometer tube is 90 degrees ;
  • the second stepping motor drives the tilt sensor to rotate to 180 degrees away from the 90-degree position, and when the circular cross-section of the inclinometer tube is 180 degrees, the offset tilt angle of the three-dimensional MEMS tilt sensor in the direction of the vertical gravity axis relative to the X and Y axis is sampled;
  • the second stepping motor drives the inclination sensor to move to 70 degrees and 0 angle to the position in turn, and collects the deviation of the X and Y axis of the three-dimensional MEMS inclination sensor relative to the vertical gravity axis direction at 270 degrees and 0 angle.
  • the inclinometer component receives the clock synchronization information sent by the main controller, and completes the clock synchronization between the inclinometer component and the main controller;
  • the inclinometer assembly moves a step distance in the inclinometer tube under the traction of the steel cable of the lifting mechanism, and then stays, and collects the data of the inclination sensor at the dwell position;
  • step S106 start the timing counter to count regularly, and control the rotation time of the tilt sensor, the data collection time of the tilt sensor, the movement time of one step of the inclinometer component, and the count value converted according to the predetermined time limit. Length of stay.
  • the present invention provides functions such as charging using solar energy and power adapter, energy storage power supply with large-capacity battery, battery equalization management, multiple communication modes, automatic fixed-length traction inclinometer, and wireless charging of inclinometer in the engineering monitoring field.
  • the main controller controls the circular section formed by the two-dimensional inclination sensor in the inclinometer tube
  • the above uses a 90-degree rotation angle as the angular step, makes four-quadrant automatic commutation and collects the inclination data of the X and Y axes with respect to the gravity axis.
  • the soil displacement inclination measurement system of the present invention meets or exceeds the requirements of the "Geotechnical Engineering Monitoring Specification", and introduces the advanced Internet of Things informatization concept under the current technical background into professional engineering inclination measurement. It can be widely used in engineering inclination surveying occasions that require large-scale, high-frequency monitoring and unattended, especially suitable for landslides, rivers, lakes, dykes, reservoirs, deep foundation pits, etc. occasion.
  • Fig. 1 is a schematic diagram of the composition of a soil displacement monitoring system according to one embodiment of the present invention.
  • Fig. 2 is a schematic diagram of the composition of a main controller according to one of the embodiments of the present invention.
  • Fig. 3 is a schematic diagram showing the composition of an inclinometer assembly according to one of the embodiments of the present invention.
  • Fig. 4 is a front view of the structure of an inclinometer assembly according to one of the embodiments of the present invention.
  • Fig. 5 is a schematic cross-sectional view of Fig. 4 according to one of the embodiments of the present invention.
  • Fig. 6 is a schematic diagram of the structure of an inclinometer assembly according to one of the embodiments of the present invention.
  • Fig. 7 is a front view of a control assembly according to one of the embodiments of the present invention.
  • Fig. 8 is a cross-sectional view along the A-A direction of the control assembly in Fig. 7 according to one of the embodiments of the present invention.
  • Fig. 9 is a schematic diagram of the working principle of the lifting mechanism according to one of the embodiments of the present invention.
  • Fig. 10 is a schematic diagram of an encoder installation structure in a lifting mechanism according to one of the embodiments of the present invention.
  • 10 inclinometer tube
  • 100 inclinometer assembly
  • 200 lifting mechanism
  • 300 main controller
  • 101 buffer pad
  • 102 first outer cylinder
  • 103 second outer cylinder
  • 104 top cover
  • 105 battery pressure plate
  • 107 motor mounting plate
  • 108 inclined sensor mounting plate
  • 109 brush mounting plate
  • 110 circuit board mounting plate
  • 112-compression spring 113-torsion spring
  • 114-connecting bolt 115-pulley
  • 116-fastening bolt 117-first connecting plate, 118-second Connecting plate
  • 119 bearing pressing plate
  • 130 charging receiving coil
  • 131 brush
  • 132 circuit board
  • 135 second stepping motor
  • 136 second battery pack.
  • 201 mounting foot
  • 202 base plate
  • 203 left bracket
  • 204 right bracket
  • 205 bearing end cover
  • 206 wire cable drum assembly
  • 207 encoder
  • 208 encoder bracket
  • 209-driven wheel assembly 210-transition wheel assembly, 211-panel frame, 212-support plate, 213-battery, 214-support, 215-traction stepper motor, 216-stepping Motor driver, 217-positioning frame, 218-wireless charging box, 219-positioning and clamping assembly, 220-reset detection circuit board, 221-limit switch, 222-driving wheel, 223-photoresist Elements, 224-gears, 230-steel cables.
  • the measuring depth in the engineering inclinometer refers to the buried depth of the inclinometer tube in the soil, which is slightly shorter than the length of the inclinometer tube (because the inclinometer tube has to penetrate the ground of the soil mass).
  • the inclinometer tube is a special hollow round tube made of plastic (or aluminum profile).
  • the inner wall of the inclinometer tube is opened with a long guide groove every 90 degrees, so there are four on the inner wall of the inclinometer tube parallel to the axis of the inclinometer tube , Guide grooves separated by 90 degrees.
  • the inclinometer is a measuring instrument composed of a stainless steel metal waterproof pipe fitting with a diameter of about 40 mm and a length of more than 500 mm, and a sensor sensitive to the tilt angle, related electronic circuits, and a sealed connection interface are built in the pipe fitting.
  • the function of the connection interface is to export the measurement data and connect it to the manually pulled cable that is marked every 500 mm.
  • the metal stainless steel pipe of the inclinometer is equipped with two pairs of guide wheels 500 mm apart.
  • the wheels are symmetrical about the axis of the metal stainless steel pipe fittings and are respectively arranged on both sides of the round tubular stainless steel shell pipe fittings; when the inclinometer is introduced into the guide groove of the inclinometer tube, it is necessary to insert the two pairs of guide wheels into the inner wall of the inclinometer tube. In the two guide grooves at 180 degrees.
  • the monitoring of an inclinometer monitoring point is usually carried out by placing the inclinometer into the inclinometer tube from the upper part of the inclinometer tube (the end passing through the ground), and the guide wheel of the inclinometer is embedded in the guide tube of the inclinometer tube.
  • the inclinometer In the groove (0 degrees and 180 degrees, or 90 degrees and 270 degrees), under the action of gravity, the inclinometer is lowered to the lower end of the inclinometer at an interval of 500 mm, and the axis of the inclinometer is measured in sections relative to the For the inclination angle of the plumb line, record the measurement data and calculate the horizontal displacement value of each segment according to the segment length and inclination angle until the bottom of the inclinometer tube is assumed to be a forward measurement.
  • the inclinometer After the forward measurement, the inclinometer must be pulled out of the inclinometer tube, and the inclinometer must be rotated 180°C along the axis of the inclinometer tube, and then re-inserted into the two previously used guide grooves that are 180°C each other (ie (Mirror flip), lower the inclinometer to the bottom of the inclinometer tube, and still pull up the inclinometer at 500 mm intervals, record and calculate the measurement data, until the inclinometer returns to the starting position of the upper part of the inclinometer tube, assuming It is a reverse travel measurement, and the whole measurement is over.
  • the two previously used guide grooves that are 180°C each other
  • the difference between the value obtained after the absolute arithmetic average of the forward and reverse measurement data (a monitoring point, a certain buried depth value) and the initial measurement value is converted to obtain the absolute accumulation of the corresponding section (referring to the depth) of the soil
  • the displacement value The inclinometer is measured from top to bottom, and from top to bottom after the mirror is turned.
  • the Code of Civil Engineering Monitoring stipulates that the initial measurement value must be the absolute arithmetic average value obtained by repeating the forward and reverse measurements four times.
  • the engineering inclinometer is carried out by manually pulling up or lowering the inclinometer in the inclinometer tube.
  • the buried depth of inclinometer pipes is usually more than ten to hundreds of meters, and there are usually several to hundreds of inclinometer monitoring points; therefore, it is difficult to realize real-time monitoring of each monitoring point by manual monitoring.
  • the existing automatic measurement method is implemented by using multiple inclinometers to fill the inclinometer tube from end to end along the axis. Although it can replace the manual lifting and lowering operations of the inclinometer, a piece of n m
  • the long inclinometer tube requires 2n inclinometers, which is expensive, and cannot realize the forward and backward measurement and return operations, and the cumulative error generated during the monitoring process is relatively large.
  • a soil displacement monitoring system includes a main controller, a lifting mechanism, an inclinometer tube buried in the soil, and an inclinometer component placed in the inclinometer tube.
  • the upper opening of the inclinometer tube extends out of the soil
  • the inclinometer assembly is placed in the inclinometer tube, and the tilt data of the inclinometer tube is collected by the movement of the inclinometer assembly in the inclinometer tube;
  • the main controller and the lifting mechanism can be integrated on a control platform to form a control assembly.
  • the lifting mechanism is used to pull the movement of the inclinometer assembly in the inclinometer tube, and the main controller is used to control the actions of the lifting mechanism while controlling
  • the inclination data of the inclinometer tube collected by the inclinometer assembly is obtained, and the inclination data is used to judge the displacement of the soil.
  • the upper end of the inclinometer buried in the soil penetrates the ground and is sleeved and positioned in the positioning hole provided on the bottom plate of the lifting mechanism.
  • One end of the stainless steel outer shell of the inclinometer assembly is connected with the lifting mechanism through a steel cable.
  • the main controller of the soil displacement monitoring system includes a first microprocessor and a traction stepper motor.
  • the traction stepper motor is electrically connected to the first microprocessor for driving the lifting mechanism; the first short-distance communication module and the first
  • the microprocessor is electrically connected for data interaction between the main controller and the inclinometer assembly; the optical limit unit is connected to the first microprocessor, and the optical resistance element set on the detection steel cable is used to limit the measurement that is hoisted by the steel cable.
  • the reset position of the inclinometer assembly; the wireless charging sending unit is connected to the first microprocessor for wirelessly charging the second battery pack in the inclinometer assembly; the remote communication module is connected to the first microprocessor for Data transmission between the main controller and the remote terminal.
  • the power circuit of the main controller includes an industrial network adapter, a solar panel, a solar charging management unit, a first battery pack unit, a first battery pack management unit, and a first DC power conversion unit.
  • the industrial network adapter is used to connect to the industrial power grid.
  • Solar panels use solar energy to store electricity.
  • the output end of the industrial network adapter and the solar panel is connected to the solar charging management unit, and is used for switching control of the management industrial power grid and the solar panel, and the management of solar charging.
  • the first battery pack unit is used to supply power to the battery of the main controller circuit.
  • the output end of the solar charge management unit and the output end of the battery pack unit are connected to the first battery pack management unit, and are used for switching control between the battery pack and the external power source and management of the battery pack charging.
  • the first DC power conversion unit is connected to the output end of the first battery pack management unit, and is used for converting the voltage output by the first battery pack management unit into multiple groups of DC power supplies with different voltages.
  • the solar charge management chip BQ24650 is used, and the input power is the industrial network adapter output VADP and the solar panel output VSOR.
  • the VSOR requirement is higher than VADP 2 volts or more. Due to the need to drive the traction stepper motor, if the 57 series stepper motor is used, the driving voltage of the traction stepper motor is at least 15 volts.
  • the lithium battery terminal voltage of 3 volts As the lower limit to stop the operating voltage, 5 sets of lithium batteries in series are required The group provides traction stepper motor drive power with a minimum of 15 volts and a maximum of 21 volts.
  • a solar panel with an open circuit output voltage of 32 volts is used, and the industrial network adapter uses a 24 volt output.
  • the output of the solar charge management chip (BQ24650) + series lithium battery pack VCELL (21 volts) is used as the input power of the series lithium battery equalization charge management chip AD7280.
  • the output VBAT of the balance charge management unit of the series lithium battery pack composed of the series lithium battery balance management chip AD7280 is used as the input power of the DC power conversion power supply unit.
  • the microprocessor of the main controller adopts the microprocessor chip STM32L476, and the built-in real-time clock of the microprocessor chip STM32L476 is programmed as the timetable that needs to work.
  • the real-time clock wakes up the microprocessor chip STM32L476.
  • STM32L476 completes the initialization, it first checks whether the battery pack voltage is within the appropriate range. If the output voltage of the lithium battery pack is lower than 15 volts, it will serve the terminal through the remote communication module After the platform sends out the signal of low working voltage for three consecutive times, it goes to sleep again, indicating that the measurement task has been cancelled.
  • the microprocessor chip STM32L476 stops the work of the wireless charging and sending unit and sends an "activation" signal to the inclinometer via Bluetooth. After waiting for 2 seconds, send the "Measuring Depth” message to the inclinometer again, and wait for 3 seconds (at this time the inclinometer has completed the zero-step four-quadrant two-dimensional inclination measurement) and then send out the "Time Synchronization” message.
  • the microprocessor chip controls the traction stepper motor to move the inclinometer down to the first 500 mm measurement step position at a rate of 250 mm/sec.
  • each measurement step takes 6 seconds: Among them, 500 mm displacement takes 2 seconds, waiting for the inclinometer to stabilize for 2 seconds, and the inclinometer for four-quadrant 2-dimensional inclination measurement takes 2 seconds.
  • the measurement length is 4 meters
  • the measurement step length is 500 mm
  • the speed of the traction stepper motor tow the inclinometer is 4m/S (4 seconds per meter)
  • all measurements will be completed after the "time synchronization" signal is sent. After a total of 7 steps, it took 42 seconds. After a pause of 2 seconds, the infrared emitting diode for position reset was turned on.
  • the microprocessor chip (STM32L476) controls the traction stepper motor to move the inclinometer up to the starting point at a rate of 250 mm/s, and it takes 14 seconds to reach the original starting point (reset).
  • the microprocessor chip (STM32L476) takes 58 seconds from the time the "time synchronization" signal is sent to when the inclinometer completes the measurement and resets. This time, after the "measurement depth” is determined, the microprocessor chip (STM32L476) will automatically calculate and time it. After the microprocessor chip (STM32L476) receives the inclinometer to complete the measurement task and returns to the original starting position signal, it produces two operations:
  • the microprocessor chip (STM32L476) forwards the measurement data to the terminal service platform and other data receiving devices in GPRS, RS232, and RS485 modes. After forwarding the data, the microprocessor chip STM32L476 will enter the sleep mode again until the next measurement time arrives.
  • the optical limit unit is used to control the inclinometer to return to the original starting position after completing the measurement task, and is used to control the traction stepper motor to emergency stop movement when the reset fails.
  • the optical and limit unit includes a logic digital drive chip (74AUP2G17), an integrated comparator LM293, an infrared emitting diode D8, and an infrared receiving diode D9.
  • the microprocessor chip (STM32L476) makes the inclinometer pause for 2 seconds, and then controls the traction stepper motor to raise the inclinometer at a constant speed from the original starting position; when pulling the steel cable of the inclinometer
  • the microprocessor chip (STM32L476) immediately stops the traction operation of the traction stepper motor after receiving the transition to the low level.
  • the wireless charging sending unit uses wireless GPRS, RS232, RS485, Bluetooth, etc. to realize information interaction with external devices.
  • the microprocessor chip (STM32L476) can use the built-in Bluetooth function to realize information interaction with a variety of external devices.
  • Wireless GPRS is used to exchange information with the terminal service platform.
  • RS485 can realize wired data interaction with the on-site management department when needed.
  • the built-in Bluetooth function of the microprocessor chip (STM32L476) realizes data interaction with the inclinometer. If the control component is used
  • the LCD touch screen can realize on-site human-computer interaction (with the highest priority).
  • the DC power conversion unit is used to provide suitable working power for the main controller circuit of the embodiment of the present invention.
  • the DC power conversion unit includes a fixed output buck converter chip (LM2594-5), a fixed output buck converter chip (LM22677-5), a fixed output buck converter chip (LM2594-3.3), and a linear LDO voltage regulator chip IC5 (TPS70618DB) , DC power conversion power supply outputs a total of +1.8, +5A, +5, +3.3 four groups of DC power supplies, which are respectively provided to related circuit units for use.
  • the inclinometer component in the soil displacement monitoring system includes an inclination sensor connected to a second microprocessor for detecting the inclination angle of the inclinometer; the second short The distance communication module is connected to the second microprocessor, and is used to transmit the inclinometer tilt data to the main controller in batches; the photoelectric position detection sensor is connected to the second microprocessor through the comparator, and is used for initializing the inclination sensor. Zero-angle positioning; the second stepper motor is connected to the second microprocessor through the second stepper motor controller, and is used to drive the inclination sensor to rotate along the circular section of the inclinometer; the temperature sensor, and the second micro The processor is connected to detect the temperature in the inclinometer tube.
  • the power circuit of the inclinometer assembly also includes: a wireless charging receiving unit, a second battery pack, and a second charging management unit. After the electric energy obtained by the wireless charging receiving unit is connected to the second battery pack through the second charging management unit, The voltage conversion by the second DC power conversion unit is connected to the power supply circuit of the inclinometer component circuit including the second microprocessor.
  • the inclinometer component adopts 3D (X, Y, Z) microelectromechanical inclination sensor (ADXL355), stepper motor (JF15BYG-018), stepper motor control chip (STSPIN220), conductive slip ring (SRM-12) -12A), photoelectric position detection sensor (infrared transceiver pair tube), microprocessor with Bluetooth function (PTR9016) and integrated comparator (MAX920) connected to the microprocessor.
  • 3D X, Y, Z) microelectromechanical inclination sensor
  • stepper motor JF15BYG-018)
  • stepper motor control chip STSPIN220
  • SRM-12 conductive slip ring
  • PSR9016 microprocessor with Bluetooth function
  • MAX920 integrated comparator
  • the microprocessor (PTR9610) of the inclinometer When the microprocessor (PTR9610) of the inclinometer receives the "activation" signal sent by the main controller via Bluetooth, it first performs the optical positioning function.
  • the purpose of the optical positioning is to determine the microelectromechanical tilt sensor (MEMS) for each measurement.
  • the X axis points to a fixed initial angular position on the circular section of the inclinometer tube.
  • the three-axis inclination sensor (MEMS) is composed of X and Y axes to form a plane.
  • the three-axis inclination sensor (MEMS) is mounted on the MEMS mounting board, and the X axis points to a 0.3 mm hole on the mounting board.
  • a micro-optical receiving device (LREC) is installed in front of the small hole.
  • a LED infrared emitting diode (LTRANS) is installed somewhere along the circular cross section of the inclinometer below the MEMS mounting board.
  • the steps to perform optical positioning include:
  • the microprocessor PTR9610 combined with the stepper motor control chip (STSPIN220) controls the stepper motor (JF15BYG-018) to drive the MEMS mounting board to rotate along the circular section of the inclinometer tube;
  • the optical receiving tube (LREC) on the MEMS mounting board receives the infrared signal from the infrared emitting diode passing through the small hole.
  • the microprocessor (PTR9610) that receives the high level combines the stepping motor control chip (STSPIN220) to control the stepping motor (JF15BYG- 018) Stop rotating;
  • the inclination sensor (MEMS) X-axis direction at this time is relative to the initial zero angle on the circular section of the inclinometer tube, and the so-called optical positioning is completed.
  • the microprocessor (PTR9016) turns off the light-emitting diode (LTRANS) and waits for the "Measuring Depth” message sent by the main controller. After the microprocessor (PTR9016) receives the "Measuring Depth” information, it automatically calculates the required “Measuring Steps” based on the "Measuring Depth” and 500mm as the distance.
  • the inclinometer when the inclinometer samples the "zero step" (at this time, the inclinometer is in the reset position at the top of the inclinometer tube), it corresponds to the 4 angles (90 degrees, 180 degrees, 270 degrees, 0 degrees) two-dimensional inclination angle and temperature data.
  • the inclinometer waits for the "time synchronization" signal sent by the main controller via Bluetooth. Once the "time synchronization” signal is received, the microprocessor (PTR9016) of the inclinometer resets the internal timer counter and starts counting again.
  • the lifting structure controls the inclinometer to descend 500 mm in 2 seconds, and waits for stabilization in 2 seconds to eliminate possible errors caused by mechanical vibration) to collect the corresponding circular section of the inclinometer tube
  • Two-dimensional inclination angle and temperature data of 4 angles (90 degrees, 180 degrees, 270 degrees, 0 degrees).
  • the inclinometer will move upwards at a constant speed under the traction of the automatic lifting mechanism until it returns to the starting position.
  • the inclinometer subsystem (A) sends all measurement data to the main controller via Bluetooth.
  • the power supply circuit of the inclinometer includes a wireless charging receiving unit, a DC power conversion circuit to meet the normal operation of each part of the functional circuit of the inclinometer, and a 26650 lithium battery.
  • the wireless charging receiving circuit receives the electromagnetic energy of the wireless charging transmitting circuit in the main controller, and charges the configured 26650 lithium battery.
  • the inclinometer components are composed of wireless charging receiver integrated circuit (EC3028A), lithium battery charging integrated circuit (MCP73832), boost converter integrated circuit (TPS63000), low dropout integrated voltage regulator circuit (ADP150), 26650 lithium battery, etc.
  • the wireless charging receiver integrated circuit (EC3028A) combined with the lithium battery charging integrated circuit (MCP73832) is always Receive the wireless charging implemented by the main controller, so that the lithium battery BT1 always maintains the potential of V BAT (3.0-4.2 volts).
  • the V BAT is boosted by a step-up converter integrated circuit (TPS63000) into a corresponding unit of 5V DC for use.
  • the 5 volt output of the boost converter integrated circuit is also provided as the input power of the low dropout integrated voltage regulator circuit (ADP150), and the output of the low dropout integrated voltage regulator circuit (ADP150) is 3.3 volts for use by related units.
  • the wireless charging receiving unit and the power management circuit in the inclinometer assembly assembled from the components of the inclinometer are separately designed on two printed circuit boards , Including stepping motors, lithium batteries, etc., are all built into the stainless steel high watertight mechanical casing.
  • the stainless steel high-watertight mechanical housing is made of non-magnetic stainless steel (304 # ). Two pairs of elastic positioning guide wheels with a spacing of 500 mm are installed at the two ends.
  • the mechanical structure of the housing of the inclinometer component is composed of mechanical parts such as a stainless steel outer cylinder, pulleys, non-metallic top cover, and watertight parts.
  • the purpose of using a non-metal top cover is to provide a propagation path for wireless Bluetooth and wireless charging electromagnetic field and electromagnetic field energy, and realize the information interaction and wireless charging function between the inclinometer and the main controller.
  • the key point of the design of mechanical parts is to be waterproof and adapt to the long-term working of the inclinometer tube in the water medium environment.
  • the inclinometer housing is composed of an outer cylinder 1 and an outer cylinder 2.
  • the circuit in the inclinometer is used to determine the initial position of the 3D microelectromechanical tilt sensor (MEMS) at the beginning of the work (that is, the photoelectric positioning method is used to determine the X axis of the MEMS tilt sensor to point to the initial fixed zero angle within the circumference of the outer cylinder) , Use wireless Bluetooth to send and receive information with the main controller, complete the data sampling of the 3-dimensional microelectromechanical tilt sensor, complete the layered temperature measurement, automatically calculate the number of measurement steps with a distance of 500 mm according to the measurement depth, and control the micro
  • the electromechanical inclination sensor (MEMS) makes a four-quadrant rotation starting from zero angle and the angle difference is 90 degrees along the circumference of the inclinometer tube.
  • the control wiring of the stepping motor is connected with the microprocessor and the power supply by connecting the slip ring.
  • the working process of the lifting mechanism of the soil displacement monitoring system is controlled by the main controller.
  • the lifting mechanism includes: a steel cable drum assembly for winding steel cables; a driving wheel, which is driven by a stepping motor through a stepping motor driver; a driven wheel, which suspends the inclinometer assembly via the steel cable of the driven wheel; Encoder, the encoder is installed on the encoder bracket, and the gear coaxial with the driven wheel is also installed on the encoder bracket corresponding to the encoder, and the speed signal of the driven wheel is transmitted to the encoder; transition wheel, hanging measurement After the steel cable of the inclinometer assembly passes the driven wheel, after passing the transition wheel, the inclinometer assembly is hung.
  • the positioning frame is provided with an optical limit unit for the reset detection of the steel cable.
  • the lifting mechanism consists of 21 machines including mounting feet, bottom plates, various brackets, brackets, support plates, and positioning frames, steel cable drum components, driven wheel components, stepping motors, stepping motor drivers, wireless charging boxes, batteries, etc. Composition of electrical components.
  • the steel cable drum assembly, driven wheel assembly, and wire rope will not slip when the wire rope is mounted with a load of 3 kg (the weight of the inclinometer is 2.7 kg).
  • the mechanical cooperation is designed as shown in Figure 8. Considering that the lifting machinery and transmission structure of this embodiment may be used in field operations for a long time, all mechanical parts are made of materials that resist oxidation and rust.
  • the automatic lifting structure and the inclinometer are connected by a steel cable, one end of the steel cable is connected with the active rotating shaft plate of the lifting structure, and the other end is connected with the inclinometer through a driven pulley disc.
  • the traction control of the lifting mechanism to the inclinometer is realized by traction of the stepping motor to drive the active shaft disk, and the friction force generated by the stainless steel cable wound on the driven pulley disk to drive the driven pulley disk to rotate.
  • the active reel also completes the reel function of the stainless steel cable.
  • the driven pulley disc through the mechanical design of linking the digital encoder with the movable pulley disc, detects the total rotation angle of the movable pulley disc, combined with the diameter of the movable pulley disc, can obtain the precise movement length of the wire rope; the output signal of the encoder can also be It is used to control the automatic lifting and the speed of the stepping motor in the control subsystem, so as to achieve the purpose of controlling the movement of the wire rope at a uniform speed.
  • the main controller is equipped with Bluetooth, GPRS wireless communication and RS485 wired data transmission functions, interacts with the inclinometer component for control instructions and test data, communicates data interaction between the remote terminal service platform and the monitoring site, Develop relevant communication protocols, provide remote terminal service platform monitoring and analysis software, realize on-site data analysis and anti-analysis, chart display, and report formation, and realize remote terminal service platform to monitor and alarm the equipment power of each inclined monitoring point on site ( Including the measurement data deviating from the set limit, a certain on-site monitoring point equipment needs to be charged, etc.), the designated working mode for the site (including the measurement depth and measurement time required for each tilt monitoring point on the site), raw data recording and other functions.
  • the remote terminal service platform includes a client and a server.
  • the GPRS remote wireless data transparent transmission module communicates the information interaction between the client and the main controller, and between the server and the main controller.
  • the remote terminal service platform is used to realize the analysis and anti-analysis of on-site measurement data, chart display, report formation, power monitoring of individual tilt monitoring point equipment on the project site, and alarm (including measurement data deviating from the set limit, certain On-site monitoring point equipment needs to be charged, etc.), designated working mode for the site (including the measurement depth and measurement time required by each tilt monitoring point on the site), raw data recording and other functions.
  • the remote terminal service platform software adopts C/S architecture, using .net language, combined with SQL Sever database, and the software architecture is a three-tier architecture (presentation layer (UI), business logic layer (BLL) and data access layer (DAL), code level) Modularization, clear structure and easy maintenance.
  • the wireless microprocessor forms the collected data into a message and transmits it to the hardware device DTU (data terminal equipment, H7210 transparent transmission module).
  • DTU uses UDP protocol and DDP protocol.
  • the GPRS signal transmits the data packet wirelessly, and the server uses Socket network programming.
  • the message is routed through the mobile network router and Internet routing, and directly reaches the destination—the server; the destination server unpacks the data according to the established inclinometer protocol.
  • the client realizes on-site monitoring personnel to manage the project: including data collection, project information management, and on-site project configuration.
  • On-site monitoring personnel can perform daily information maintenance on the project, including basic information, calculation sheets, geological data, project drawings, configuration of on-site single monitoring points (including setting monitoring frequency, setting measurement depth, alarm value), setting Formula, set the project base map for the monitoring site, add or delete monitoring points for the project base map according to the distribution of the site monitoring points, set DTU remote communication, etc.
  • configuration and query configuration movement, zoom in, and zoom out are realized through WPF user controls, which is intuitive and convenient.
  • the entire framework makes the interface more beautiful through the DonnetBar component.
  • Both client and server users can query the inclinometer data according to their needs, and the monitoring data will finally draw various data lists and graphs through Zedgraph.
  • AxFramerControl users can also realize data archiving, printing, data list, log management (alarm log, modify/delete log), historical data management (original historical data, initial historical data, intermediate historical data, final historical data) and other functions.
  • a method for monitoring soil displacement is based on a monitoring system including a main controller, a lifting mechanism, an inclinometer embedded in the soil, and an inclinometer placed in the inclinometer.
  • the method operation steps include,
  • This method uses remote wireless communication or a human-computer interaction interface (touch LCD screen) to set the working mode (working mode includes measuring depth and measuring time);
  • the inclinometer When the inclinometer returns to the initial position after completing the monitoring (that is, returns to the upper position after the inclinometer tube penetrates the excavated soil body), implement the wireless charging function for the inclinometer, and transmit the measurement data in various ways;
  • the lifting mechanism automatically pulls the inclinometer up and down;
  • the remote interaction information includes:
  • the main controller After the main controller receives the working mode setting parameters (measurement depth, measurement time), it automatically converts it to the measurement times (number of steps) corresponding to the measurement depth divided by 500 (mm) intervals, and saves the parameter.
  • the microprocessor with real-time clock function cooperates with the set measurement time to complete automatic timely measurement.
  • the main controller will perform the following operations:
  • each rotation angle step is 90 degrees, and the inclination sensor will make a short stop every time it turns 90 degrees to complete data collection);
  • the lifting mechanism will stop for E seconds, and then start to pull the inclinometer at a constant speed at a rate of L(mm)/s until the main controller receives the reset signal (reaching the upper end position after the inclinometer tube penetrates the soil body ), the lifting mechanism stops pulling the inclinometer, and the inclinometer returns to the starting point. This operation takes F seconds.
  • the main controller starts to transfer and waits to receive the measurement data sent by the inclinometer via Bluetooth wireless mode (including the collected layered two-dimensional inclination data, layered temperature, and battery power supply status information of the inclinometer), this section of operation
  • the total time is G seconds.
  • the main controller sends all the information of this measurement to the terminal service platform through the GPRS wireless module. These information include the measured layered tilt, layered temperature, ground temperature, the main controller and the inclinometer battery Group electrical status.
  • the microprocessor in the main controller sends "ENBL" as low level, starts the wireless charging module, and implements wireless charging for the inclinometer until the next measurement cycle.
  • the acquisition of the inclinometer data adopts the three-dimensional high-precision MENMS inclinometer and its signal conditioning circuit to detect the change of the inclination angle between the X and Y axis of the MENMS inclinometer relative to the gravity axis, and implement the 20-bit precision A/ D conversion.
  • the three-dimensional high-precision MENMS tilt sensor is also integrated with a temperature sensor to detect layered temperature information.
  • the optical initial angle positioning is used to determine the zero angle of the MEMS inclination sensor on the circular section formed by the inclinometer tube during measurement.
  • the complete measurement process of the inclinometer is as follows.
  • the inclinometer realizes the information interaction with the main controller through wireless Bluetooth.
  • the wireless Bluetooth module in the inclinometer receives the "activation" message sent by the main controller, the microprocessor in the inclinometer is activated.
  • the purpose of the optical positioning operation is to reset the three-dimensional MEMS tilt sensor chip (X, Y axis) for tilt measurement (reset to the fixed zero angle set on the circular section of the inclinometer tube);
  • the inclinometer will automatically calculate the measurement step required for 500mm measurement distance based on the received "Measuring Depth” information Count and save; now the inclinometer is at the top of the inclinometer tube (reset position).
  • the stepping motor in the inclinometer rotates 90 degrees away from the 0 angle position, and after a short pause, the three-dimensional MEMS inclination sensor when the circular section of the inclinometer tube is 90 degrees, the offset inclination angle of the X and Y axis relative to the vertical gravity axis direction of the three-dimensional MEMS inclination sensor ;
  • the stepping motor in the inclinometer rotates to 180 degrees away from the 90-degree position. After a short pause, the offset of the three-dimensional MEMS inclination sensor when the circular cross-section of the inclinometer tube is 180 degrees and its X and Y axis are related to the vertical gravity axis. inclination;
  • the inclinometer enters and waits for the "clock synchronization" message from the main controller.
  • the optical positioning operation includes:
  • the tilt sensor on the MEMS mounting plate of the tilt sensor so that the X axis of the tilt sensor points to the small hole on the MEMS mounting plate of the tilt sensor;
  • An optical receiver is arranged on one side of the inclination sensor mounting plate, and an optical transmitter is arranged on the other side of the inclination sensor mounting plate facing the optical receiver,
  • the second stepping motor drives the tilt sensor mounting plate to rotate along the circular section of the inclinometer tube to the light receiving and transmitter pairing.
  • the small hole on the tilt sensor mounting plate is located exactly between the light transmitter and the light receiver, and the light transmitting The light sent by the sensor passes through the small hole and is received by the light receiver. It is defined that the X-axis of the inclination sensor is pointed at the initial zero angle relative to the circular section of the inclinometer tube to complete the optical positioning operation.
  • the inclinometer When the inclinometer receives the clock synchronization information, the inclinometer immediately performs the following operations:
  • the two-dimensional inclination measurement is carried out in an inclinometer with a buried depth of 10 meters, and the initial position of the inclinometer is assumed to be at the upper end of the inclinometer through the excavated body.
  • the tilt sensor implements 4-quadrant data sampling along the circumference of the inclinometer for each step length of 500mm. Therefore, the vector increment value of the axis deviation of the inclinometer tube at a certain layer can be obtained. After completing a step inclination measurement, sample the temperature value of the built-in temperature sensor of the MEMS sensor, and after storing all the sampled data, complete all operations under the step.
  • the output data of the timed sampling MEMS tilt sensor (X, Yy axis) is stored in the memory.
  • the beneficial effects of the present invention include:
  • a digital encoder is used to achieve precise control of the movement distance of the stainless steel cable and the movement speed of the stepping motor;
  • control component uses the control component to implement a wireless intelligent charging method for the reset inclinometer to compensate the electric energy of the inclinometer;
  • Timed monitoring can be realized, especially suitable for monitoring the soil displacement of dams and waterways when the flood peaks are reached;
  • Infrared photoelectric position detection, limit switch control emergency brake and other measures are adopted to ensure that the inclinometer is accurately reset after the measurement is completed, and the cumulative deviation of the monitoring length and the reset position of the inclinometer is eliminated;
  • the terminal service platform software composed of two parts: client and server provides convenient and multifunctional information management, information analysis, information configuration, information modification, curve chart and other functions for on-site monitoring personnel and remote management personnel.
  • the present invention does not require human intervention (including power supply management) to realize intelligent monitoring under long-term unattended conditions. It is worth noting that although the foregoing content has described the spirit and principle of the present invention with reference to several specific embodiments, it should be understood that the present invention is not limited to the disclosed specific embodiments, and the division of various aspects does not imply these. The features in the aspect cannot be combined. This division is only for the convenience of presentation. The present invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

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Abstract

A soil displacement monitoring system, comprising: at least one inclinometer pipe (10) buried in a soil body to be measured, an upper opening of the inclinometer pipe (10) extending out of the soil body; an inclinometer assembly (100), which is arranged inside the inclinometer pipe (10) and is used for collecting inclination data of the inclinometer pipe (10) by means of movement of the inclinometer assembly (100) inside the inclinometer pipe (10); and a control assembly. The control assembly comprises: a lifting mechanism (200) used for pulling the inclinometer assembly (100) to move inside the inclinometer pipe (10); and a main controller (300) used for controlling the action of the lifting mechanism (200) and controlling the measurement process of the clinometer assembly (100) to acquire the inclination data of the inclinometer pipe (10) collected by the clinometer assembly (100), the inclination data being used for determining the displacement of the soil body.

Description

土***移监测***Soil displacement monitoring system 技术领域Technical field
本发明属于建筑工程技术领域，特别涉及一种土***移监测***。The invention belongs to the technical field of construction engineering, and particularly relates to a soil displacement monitoring system.
背景技术Background technique
在建筑工程中，深基坑围护、水库大坝及山体滑坡监测等项目中，广泛使用测斜仪对土体变形、位移实行量化监测。测斜仪的测斜数据是监视被测土体形变位移的重要依据。In construction projects, deep foundation pits, reservoir dams, and landslide monitoring projects, inclinometers are widely used to quantitatively monitor soil deformation and displacement. The inclinometer data is an important basis for monitoring the deformation and displacement of the measured soil.
测斜是指使用测斜仪观测土体内部水平位移，一般采用一个内部装有测斜传感器的测斜仪，将之置于垂直埋设在被测土体中的带槽导管中往返移动，分段测出导管轴线相对于铅垂线的倾斜角度，并根据分段长度和倾斜角度计算每段水平位移值。带槽导管是工程测斜监测中的专用塑料(或合金铝)制品，通常称为测斜管，分为直径为60毫米和90毫米两种规格。假定需要监测的土体深度为30米，原则上需要垂直埋设一支总长度等于或大于30米的测斜管(需要多节测斜管对接)，测斜管的上端穿透出被测土体的表面。Inclination measurement refers to the use of an inclinometer to observe the horizontal displacement inside the soil. Generally, an inclinometer equipped with an inclination sensor is used, and it is placed in a grooved conduit buried vertically in the measured soil to move back and forth. The inclination angle of the pipe axis relative to the plumb line is measured for each segment, and the horizontal displacement value of each segment is calculated according to the segment length and the inclination angle. Slotted conduit is a special plastic (or alloy aluminum) product in engineering inclinometer monitoring. It is usually called inclinometer tube. It is divided into two specifications with a diameter of 60 mm and 90 mm. Assuming that the depth of the soil to be monitored is 30 meters, in principle, an inclinometer tube with a total length of 30 meters or more needs to be buried vertically (multiple inclinometer tubes are required to be connected), and the upper end of the inclinometer tube penetrates the soil to be tested The surface of the body.
在现有的测斜操作中，大多采用人工测量方法。人工测量是通过将测斜仪与一支每隔500毫米做了标记的信号电缆连接，经人工操作，将测斜仪通过牵拉信号电缆的方式在预先与被测土体垂直埋设好的标准测斜管中完成。根据监测规范，由测斜管的最上端始至测斜管的最下端，每隔500毫米(即电缆沿测斜管拉伸或下放的距离)读取一次数据；然后，将测斜仪从测斜管中拉出，将测斜仪镜面翻转，复由上至下重复前述测量，称完成了一次测回。In the existing inclinometer operation, manual measurement methods are mostly used. Manual measurement is by connecting the inclinometer with a signal cable marked every 500 mm. After manual operation, the inclinometer is pre-buried perpendicular to the measured soil by pulling the signal cable. Completed in the inclinometer tube. According to the monitoring specification, from the top end of the inclinometer tube to the bottom end of the inclinometer tube, the data is read every 500 mm (that is, the distance the cable is stretched or lowered along the inclinometer tube); then, the inclinometer is read from Pull out the inclinometer tube, turn the mirror of the inclinometer over, repeat the aforementioned measurement from top to bottom, and say that one measurement is completed.
可见，采用人工操作测斜监测的劳动强度较大，测量频度较低(通常每天每支测斜管监测一次，诸如大面积山体滑坡监测的场合，需要几天才能实现单支测斜管的一次测量)。It can be seen that the labor intensity of manually operated inclinometer monitoring is relatively large, and the measurement frequency is low (usually every inclinometer tube is monitored once a day, such as large-area landslide monitoring occasions, it takes a few days to realize a single inclinometer tube. One measurement).
发明内容Summary of the invention
本发明提供了一种土***移监测***，目的在于解决现有土***移监测采用人工方式操作无法满足实际检测效率、精度和成本的问题。The invention provides a soil displacement monitoring system, which aims to solve the problem that the existing soil displacement monitoring adopts manual operation and cannot meet the actual detection efficiency, accuracy and cost.
本发明实施例之一，一种土***移监测***，包括，One of the embodiments of the present invention is a soil displacement monitoring system, including:
至少一支测斜管，被埋入待测土体中，且所述测斜管上部开口伸出土体；At least one inclinometer tube is buried in the soil to be tested, and the upper opening of the inclinometer tube extends out of the soil;
测斜仪组件，被置入所述测斜管内，通过测斜仪组件在测斜管内的移动，采集测斜管的倾斜数据；The inclinometer assembly is placed in the inclinometer tube, and the tilt data of the inclinometer tube is collected by the movement of the inclinometer assembly in the inclinometer tube;
控制组件，该控制组件包括：Control components, the control components include:
升降机构，用于牵引所述测斜仪组件在测斜管内的移动；Lifting mechanism for pulling the movement of the inclinometer assembly in the inclinometer tube;
主控制器，用于控制所述升降机构的动作，同时控制测斜仪组件的测量过程，获得测斜仪组件的采集的测斜管的倾斜数据，该倾斜数据用于判断所述土体的位移情况。The main controller is used to control the action of the lifting mechanism, and at the same time control the measurement process of the inclinometer assembly, to obtain the inclination data of the inclinometer tube collected by the inclinometer assembly, and the inclination data is used to determine the soil Displacement situation.
进一步的，主控制器包括，Further, the main controller includes:
第一微处理器；First microprocessor
牵引步进电机，该牵引步进电机电连接第一微处理器，用于驱动升降机构；Traction stepper motor, the traction stepper motor is electrically connected to the first microprocessor for driving the lifting mechanism;
第一短距通信模块，与第一微处理器电连接，用于主控制器与测斜仪组件之间的数据交互；The first short-range communication module is electrically connected to the first microprocessor, and is used for data interaction between the main controller and the inclinometer component;
光学限位单元，该光学限位单元连接第一微处理器，通过检测钢缆绳上设置的光阻元件限制被钢缆绳吊装的测斜仪组件的复位位置；An optical limit unit, which is connected to the first microprocessor, and limits the reset position of the inclinometer assembly hoisted by the steel cable by detecting the light resistance element provided on the steel cable;
无线充电发送单元，与第一微处理器连接，用于对测斜仪组件内的第二电池组进行无线充电；The wireless charging and sending unit is connected to the first microprocessor, and is used for wirelessly charging the second battery pack in the inclinometer assembly;
远程通信模块，该远程通信模块与第一微处理器连接，用于主控制器与远程终端之间的数据传输。The remote communication module is connected to the first microprocessor and used for data transmission between the main controller and the remote terminal.
主控制器的电源电路包括，The power circuit of the main controller includes,
工网适配器，用于接入工业电网；Industrial network adapter, used to connect to the industrial power grid;
太阳能电池板，利用太阳能蓄电；Solar panels, use solar energy to store electricity;
太阳能充电管理单元，所述工网适配器和太阳能电池板的输出端接入所述太阳能充电管理单元，所述用于对管理工业电网和太阳能电池板的切换控制以及对太阳能充电的管理；A solar charging management unit, the output terminals of the industrial network adapter and the solar panel are connected to the solar charging management unit, and the switching control for the management of the industrial power grid and the solar panel and the management of solar charging are used;
第一电池组单元，用于对主控制器电路的电池供电；The first battery pack unit is used to supply power to the battery of the main controller circuit;
第一电池组管理单元，太阳能充电管理单元的输出端和电池组单元的输出端接入所述电池组管理单元，所述第一电池组管理单元用于电池组与外部电源的切换控制以及对电池组充电的管理；The first battery pack management unit, the output end of the solar charge management unit and the output end of the battery pack unit are connected to the battery pack management unit, and the first battery pack management unit is used for switching control between the battery pack and the external power supply, and Management of battery pack charging;
第一直流电源变换单元，连接所述第一电池组管理单元的输出端，用于将第一电池组管理单元输出的电压转换为多组不同电压的直流电源。The first DC power conversion unit is connected to the output end of the first battery pack management unit, and is used to convert the voltage output by the first battery pack management unit into multiple groups of DC power sources with different voltages.
进一步的，所述测斜仪组件包括，Further, the inclinometer assembly includes:
第二微处理器；Second microprocessor
倾角传感器，与第二微处理器连接，用于检测测斜管的倾斜角度；Inclination sensor, connected to the second microprocessor, used to detect the inclination angle of the inclinometer tube;
第二短距通信模块，与第二微处理器连接，用于向主控器批量传输测斜管倾斜数据；The second short-distance communication module is connected to the second microprocessor, and is used to transmit the inclinometer tube tilt data to the main controller in batches;
光电位置检测传感器，经过比较器连接第二微处理器，用于对所述倾角传感器的初始零角度的定位；The photoelectric position detection sensor is connected to the second microprocessor via a comparator, and is used for positioning the initial zero angle of the inclination sensor;
第二步进电机，通过第二步进电机控制器连接到第二微处理器，用于驱动倾角传感器沿着所述测斜管的圆截面转动；A second stepping motor, connected to a second microprocessor through a second stepping motor controller, for driving the tilt sensor to rotate along the circular section of the inclinometer tube;
温度传感器，与第二微处理器连接，用于检测测斜管内的温度。The temperature sensor, connected with the second microprocessor, is used to detect the temperature in the inclinometer tube.
测斜仪组件的电源电路包括，The power circuit of the inclinometer component includes,
无线充电接收单元，Wireless charging receiving unit,
第二电池组，The second battery pack,
第二充电管理单元，无线充电接收单元获得的电能经所述第二充电管理单元接入第二电池组后，再经过第二直流电源变换单元的电压变换接入包括第二微处理器的所述测斜仪组件电路的电源电路。The second charging management unit. After the electric energy obtained by the wireless charging receiving unit is connected to the second battery pack through the second charging management unit, it is then connected to the electric energy including the second microprocessor through the voltage conversion of the second DC power conversion unit. Describe the power circuit of the inclinometer component circuit.
进一步的，所述测斜仪组件的测量过程包括：Further, the measurement process of the inclinometer assembly includes:
S101，测斜仪组件电路接收到主控制器发出的激活指令后执行光学定位操作，所述的光学定位操作是指将倾角传感器复位到测斜管圆截面上设定的初始零角度；S101, the inclinometer component circuit performs an optical positioning operation after receiving an activation instruction issued by the main controller. The optical positioning operation refers to resetting the inclination sensor to an initial zero angle set on the circular section of the inclinometer tube;
S102，等待并接收主控制器发送的包括测量深度的信息，并且根据该测量深度计算依据 测量间距所需的测量步长数；S102: Wait for and receive the information including the measurement depth sent by the main controller, and calculate the number of measurement steps required according to the measurement interval according to the measurement depth;
S103，第二步进电机驱动倾角传感器沿着所述测斜管的圆截面旋转90度，采样测斜管圆截面90度时三维MEMS倾角传感器X、Y轴相关垂直重力轴方向的偏移倾角；S103, the second stepping motor drives the inclinometer to rotate 90 degrees along the circular section of the inclinometer tube, and sample the offset inclination angle of the three-dimensional MEMS inclination sensor X and Y axis relative to the vertical gravity axis direction when the circular section of the inclinometer tube is 90 degrees ；
S104，第二步进电机驱动倾角传感器离开90角度位置旋转到180度，采样测斜管圆截面180度时三维MEMS倾角传感器其X、Y轴相关垂直重力轴方向的偏移倾角；S104, the second stepping motor drives the tilt sensor to rotate to 180 degrees away from the 90-degree position, and when the circular cross-section of the inclinometer tube is 180 degrees, the offset tilt angle of the three-dimensional MEMS tilt sensor in the direction of the vertical gravity axis relative to the X and Y axis is sampled;
S104，以此类推，第二步进电机依次驱动倾角传感器倾角传感器移动至70度和0角度至位置，采集270度和0角度时三维MEMS倾角传感器其X、Y轴相关垂直重力轴方向的偏移倾角；S104, and so on, the second stepping motor drives the inclination sensor to move to 70 degrees and 0 angle to the position in turn, and collects the deviation of the X and Y axis of the three-dimensional MEMS inclination sensor relative to the vertical gravity axis direction at 270 degrees and 0 angle. Tilt angle
S105，测斜仪组件接收主控制器发送的时钟同步信息，完成测斜仪组件与主控制器之间的时钟同步；S105, the inclinometer component receives the clock synchronization information sent by the main controller, and completes the clock synchronization between the inclinometer component and the main controller;
S106，在主控制器的控制下，测斜仪组件在升降机构的钢缆绳牵引下，在测斜管内移动一个步长的距离后停留，在该停留位置的对于倾角传感器数据进行采集；S106, under the control of the main controller, the inclinometer assembly moves a step distance in the inclinometer tube under the traction of the steel cable of the lifting mechanism, and then stays, and collects the data of the inclination sensor at the dwell position;
S107，重复执行前一步骤，当完成预定的步长数后，测斜仪组件在升降机构的牵引下回到初始位置。S107: Repeat the previous step, and when the predetermined number of steps is completed, the inclinometer assembly returns to the initial position under the traction of the lifting mechanism.
其中，在步骤S106中，启动定时计数器定时计数，根据预定时限换算的计数值，控制倾角传感器的旋转时长、倾角传感器数据采集时长、测斜仪组件一个步长的移动时长、测斜仪的每个停留时长。Among them, in step S106, start the timing counter to count regularly, and control the rotation time of the tilt sensor, the data collection time of the tilt sensor, the movement time of one step of the inclinometer component, and the count value converted according to the predetermined time limit. Length of stay.
本发明为工程监测领域提供了一种使用太阳能及电源适配器充电、大容量电池储能供电、电池均衡管理、多种通信模式、自动定长牵引测斜仪、对测斜仪实施无线充电等功能，对测斜仪移动具有自动升降控制的土***移智能监测***。在置于被测土体表面(测斜管的上端)的具有各种通信功能的自动升降及主控制器控制下，实现可编程监测深度、每日监测时间，近、远程无线数据采集及发送，远程无线或人机交互接口(或通过触摸屏)工作模式设定。当测斜仪中采用两维倾角敏感元件X，Y轴(或三维X，Y，Z)构成一个关于重力方向垂直的平面，主控制器控制二维倾角敏感元件在测斜管构成的圆截面上以90度转角为角步长、作四象限自动换向并采集X、Y轴关于重力轴的倾角数据。The present invention provides functions such as charging using solar energy and power adapter, energy storage power supply with large-capacity battery, battery equalization management, multiple communication modes, automatic fixed-length traction inclinometer, and wireless charging of inclinometer in the engineering monitoring field. , An intelligent monitoring system for soil displacement with automatic lift control for the movement of the inclinometer. Under the control of automatic lifting and main controller with various communication functions placed on the surface of the tested soil body (the upper end of the inclinometer), it realizes programmable monitoring depth, daily monitoring time, near and remote wireless data collection and transmission , Remote wireless or human-computer interaction interface (or through the touch screen) working mode setting. When the two-dimensional inclination sensor X, Y axis (or three-dimensional X, Y, Z) is used in the inclinometer to form a plane perpendicular to the direction of gravity, the main controller controls the circular section formed by the two-dimensional inclination sensor in the inclinometer tube The above uses a 90-degree rotation angle as the angular step, makes four-quadrant automatic commutation and collects the inclination data of the X and Y axes with respect to the gravity axis.
本发明的土***移测斜***达到或超额达到了《岩土工程监测规范》的要求，将当前技术背景下的先进物联网信息化理念引入了专业工程测斜。可被广泛应用于需要大范围、高频度监测、无人值守的工程测斜场合，尤其适用于野外、无工网支持环境下的山体滑坡、江河湖泊堤坝、水库、深基坑围护等场合。The soil displacement inclination measurement system of the present invention meets or exceeds the requirements of the "Geotechnical Engineering Monitoring Specification", and introduces the advanced Internet of Things informatization concept under the current technical background into professional engineering inclination measurement. It can be widely used in engineering inclination surveying occasions that require large-scale, high-frequency monitoring and unattended, especially suitable for landslides, rivers, lakes, dykes, reservoirs, deep foundation pits, etc. occasion.
附图说明Description of the drawings
通过参考附图阅读下文的详细描述，本发明示例性实施方式的上述以及其他目的、特征和优点将变得易于理解。在附图中，以示例性而非限制性的方式示出了本发明的若干实施方式，其中：By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features, and advantages of the exemplary embodiments of the present invention will become easier to understand. In the drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, in which:
图1是根据本发明实施例之一的土***移监测***组成示意图。Fig. 1 is a schematic diagram of the composition of a soil displacement monitoring system according to one embodiment of the present invention.
图2是根据本发明实施例之一的主控制器组成示意图。Fig. 2 is a schematic diagram of the composition of a main controller according to one of the embodiments of the present invention.
图3是根据本发明实施例之一的测斜仪组件组成示意图。Fig. 3 is a schematic diagram showing the composition of an inclinometer assembly according to one of the embodiments of the present invention.
图4是根据本发明实施例之一的测斜仪组件结构正视图。Fig. 4 is a front view of the structure of an inclinometer assembly according to one of the embodiments of the present invention.
图5是根据本发明实施例之一的图4的剖面示意图。Fig. 5 is a schematic cross-sectional view of Fig. 4 according to one of the embodiments of the present invention.
图6是根据本发明实施例之一的测斜仪组件结构示意图。Fig. 6 is a schematic diagram of the structure of an inclinometer assembly according to one of the embodiments of the present invention.
图7是根据本发明实施例之一的控制组件正视图。Fig. 7 is a front view of a control assembly according to one of the embodiments of the present invention.
图8是根据本发明实施例之一的图7中控制组件A-A方向剖视图。Fig. 8 is a cross-sectional view along the A-A direction of the control assembly in Fig. 7 according to one of the embodiments of the present invention.
图9是根据本发明实施例之一的升降机构工作原理示意图。Fig. 9 is a schematic diagram of the working principle of the lifting mechanism according to one of the embodiments of the present invention.
图10是根据本发明实施例之一的升降机构中编码器安装结构示意图。Fig. 10 is a schematic diagram of an encoder installation structure in a lifting mechanism according to one of the embodiments of the present invention.
10——测斜管，100——测斜仪组件，200——升降机构，300——主控制器，101——缓冲垫，102——第一外筒，103——第二外筒，104——顶盖，105——密封圈，106——电池压板，107——电机安装板，108——倾角传感器安装板，109——电刷安装板，110——线路板安装板，111——线路板安装杆，112——压缩弹簧，113——扭簧，114——连接螺栓，115——滑轮，116——紧固螺栓，117——第一连接板，118——第二连接板，119——轴承压板，130——充电接收线圈，131——电刷，132——线路板，135——第二步进电机，136——第二电池组。10—inclinometer tube, 100—inclinometer assembly, 200—lifting mechanism, 300—main controller, 101—buffer pad, 102—first outer cylinder, 103—second outer cylinder, 104—top cover, 105—sealing ring, 106—battery pressure plate, 107—motor mounting plate, 108—inclination sensor mounting plate, 109—brush mounting plate, 110—circuit board mounting plate, 111 -Circuit board mounting rod, 112-compression spring, 113-torsion spring, 114-connecting bolt, 115-pulley, 116-fastening bolt, 117-first connecting plate, 118-second Connecting plate, 119—bearing pressing plate, 130—charging receiving coil, 131—brush, 132—circuit board, 135—second stepping motor, 136—second battery pack.
201——安装脚，202——底板，203——左支架，204——右支架，205——轴承端盖，206——钢缆滚筒组件，207——编码器，208——编码器支架，209——从动轮组件，210——过渡轮组件，211——面板框，212——支撑板，213——电池，214——托，215——牵引步进电机，216——步进电机驱动器，217——定位架，218——无线充电盒，219——定位夹紧组件，220——复位检测电路板，221——限位开关，222——主动轮，223——光阻元件，224——齿轮，230——钢缆绳。201—mounting foot, 202—base plate, 203—left bracket, 204—right bracket, 205—bearing end cover, 206—wire cable drum assembly, 207—encoder, 208—encoder bracket , 209-driven wheel assembly, 210-transition wheel assembly, 211-panel frame, 212-support plate, 213-battery, 214-support, 215-traction stepper motor, 216-stepping Motor driver, 217-positioning frame, 218-wireless charging box, 219-positioning and clamping assembly, 220-reset detection circuit board, 221-limit switch, 222-driving wheel, 223-photoresist Elements, 224-gears, 230-steel cables.
具体实施方式Detailed ways
为了充分阐述及加深理解本发明的原理及技术方案，首先说明目前工程测斜中普遍采用的人工监测方式的具体实施方法及工程测斜的相关规范：In order to fully explain and deepen the understanding of the principles and technical solutions of the present invention, firstly, the specific implementation methods of the manual monitoring methods commonly used in current engineering inclinometers and related specifications for engineering inclinometers are explained:
在需要监测土(岩)深层水平位移的场合，目前广泛采用在被测土地中垂直埋设一根总长度不小于监测深度的专用测斜管(单支测斜管长度为3米，超过3米以上的埋设深度需多支测斜管衔接)。当埋设有测斜管的被测土体发生水平位移变化时，测斜管将发生相应的偏离垂直方向的扭曲变形，测量与垂直方向相对扭曲变形值，经折算便可得到土体发生的水平位移值，这种方法在工程界简称为测斜。工程测斜中的测量深度是指测斜管在土体中的埋深，略短于测斜管长度(因为测斜管要穿出土体地面)。测斜管是一种塑料(或铝型材)制成的专用空心圆管，在其内壁上每隔90度开有通长导槽，因此在测斜管内壁上有四条与测斜管轴线平行、相隔90度的导槽。测斜仪是一种由直径大约为40毫米、长度为500毫米以上的不锈钢金属防水管件、并在该管件内置有对倾斜角度敏感的传感器及相关电子电路、密封连接接口构成的测量仪器，密封连接接口的作用是导出测量数据，并与人工牵拉的每隔500毫米做了标记的电缆线连接，测斜仪的金属不锈钢管件外壳上设有二对相距500毫米的导轮，每对导轮关于金属不锈钢管件的轴线对称，分别被安置在呈圆型管状的不 锈钢外壳管件的两侧；当测斜仪导入测斜管的导槽时，需要将二对导轮嵌入测斜管内壁互为180度的二条导槽中。完成对一个测斜监测点的监测通常是按照从测斜管的上部(穿出地面端)开始，将测斜仪放置入测斜管中，测斜仪的导轮被嵌入测斜管的导槽中(0度和180度，或者90度与270度)，在重力作用下，使测斜仪向测斜管下端以每隔500毫米的间隔下放，分段测出测斜管轴线相对于铅垂线的倾斜角度，记录测量数据并根据分段长度和倾斜角度计算每段水平位移值，直到测斜管的底部，假定为正程测量。正程测量结束后，须将测斜仪从测斜管中拉出，将测斜仪沿测斜管轴线旋转180℃后重新置入原先使用过的二条互为180℃的导槽中(即镜面翻转)，将测斜仪下放到测斜管底部，仍然以500毫米为间隔向上提拉测斜仪，记录并计算测量数据，直到测斜仪回到测斜管上部的起始位置，假定为逆程测量，全程测量结束。将正程和逆程测量数据作绝对算术平均后获得的值(某监测点、某埋深值)与最初测量值比较的差值，通过折算，从而得到对应段(指深度)土体绝对累计位移值。测斜仪由上至下，镜面翻转后由上至下的二次正、逆程测量，其目的在于通过两次相差180度的测量，抵消机械装配等客观因素所产生的误差；根据《岩土工程监测规范》规定，最初测量值必须是重复四次的正程及逆程测量所得的绝对算术平均值。Where it is necessary to monitor the horizontal displacement of the soil (rock) deep, it is currently widely used to vertically bury a special inclinometer tube with a total length not less than the monitoring depth in the measured ground (a single inclinometer tube is 3 meters in length, more than 3 meters in length). The above burying depth needs to be connected by multiple inclinometer pipes). When the horizontal displacement of the measured soil body with the buried inclinometer tube changes, the inclinometer tube will undergo a corresponding distortion that deviates from the vertical direction. The relative distortion value of the vertical direction is measured, and the horizontal displacement of the soil body can be obtained by conversion. Displacement value, this method is abbreviated as inclinometer in engineering circles. The measuring depth in the engineering inclinometer refers to the buried depth of the inclinometer tube in the soil, which is slightly shorter than the length of the inclinometer tube (because the inclinometer tube has to penetrate the ground of the soil mass). The inclinometer tube is a special hollow round tube made of plastic (or aluminum profile). The inner wall of the inclinometer tube is opened with a long guide groove every 90 degrees, so there are four on the inner wall of the inclinometer tube parallel to the axis of the inclinometer tube , Guide grooves separated by 90 degrees. The inclinometer is a measuring instrument composed of a stainless steel metal waterproof pipe fitting with a diameter of about 40 mm and a length of more than 500 mm, and a sensor sensitive to the tilt angle, related electronic circuits, and a sealed connection interface are built in the pipe fitting. The function of the connection interface is to export the measurement data and connect it to the manually pulled cable that is marked every 500 mm. The metal stainless steel pipe of the inclinometer is equipped with two pairs of guide wheels 500 mm apart. The wheels are symmetrical about the axis of the metal stainless steel pipe fittings and are respectively arranged on both sides of the round tubular stainless steel shell pipe fittings; when the inclinometer is introduced into the guide groove of the inclinometer tube, it is necessary to insert the two pairs of guide wheels into the inner wall of the inclinometer tube. In the two guide grooves at 180 degrees. The monitoring of an inclinometer monitoring point is usually carried out by placing the inclinometer into the inclinometer tube from the upper part of the inclinometer tube (the end passing through the ground), and the guide wheel of the inclinometer is embedded in the guide tube of the inclinometer tube. In the groove (0 degrees and 180 degrees, or 90 degrees and 270 degrees), under the action of gravity, the inclinometer is lowered to the lower end of the inclinometer at an interval of 500 mm, and the axis of the inclinometer is measured in sections relative to the For the inclination angle of the plumb line, record the measurement data and calculate the horizontal displacement value of each segment according to the segment length and inclination angle until the bottom of the inclinometer tube is assumed to be a forward measurement. After the forward measurement, the inclinometer must be pulled out of the inclinometer tube, and the inclinometer must be rotated 180°C along the axis of the inclinometer tube, and then re-inserted into the two previously used guide grooves that are 180°C each other (ie (Mirror flip), lower the inclinometer to the bottom of the inclinometer tube, and still pull up the inclinometer at 500 mm intervals, record and calculate the measurement data, until the inclinometer returns to the starting position of the upper part of the inclinometer tube, assuming It is a reverse travel measurement, and the whole measurement is over. The difference between the value obtained after the absolute arithmetic average of the forward and reverse measurement data (a monitoring point, a certain buried depth value) and the initial measurement value is converted to obtain the absolute accumulation of the corresponding section (referring to the depth) of the soil The displacement value. The inclinometer is measured from top to bottom, and from top to bottom after the mirror is turned. The Code of Civil Engineering Monitoring stipulates that the initial measurement value must be the absolute arithmetic average value obtained by repeating the forward and reverse measurements four times.
目前，在测斜管中以人工方式上拉或下放测斜仪的方式实施工程测斜。工程测斜场合中的测斜管埋深通常在十几～上百米、测斜监测点通常有数个到上百个不等；因此，以人工实施监测很难实现对每个监测点实时监测，或达到2次/天～4次/天测回的规范要求，也无法保证每次提拉或下放均为相距500(mm)间隔的精确性。由此，在某些特殊应用场合，例如大面积滑坡监测，实际很难实施以人工方式大范围实时监测操作。现有的自动测量方法是通过以多支测斜仪在测斜管中沿轴线首尾对接填满的方式实施的，虽然可以取代人工对测斜仪的拉升、下放操作，但一根n米长的测斜管需要置入2n个测斜仪，费用昂贵，且无法实现正程和逆程的测回操作，监测过程中产生的累积误差较大。At present, the engineering inclinometer is carried out by manually pulling up or lowering the inclinometer in the inclinometer tube. In engineering inclinometers, the buried depth of inclinometer pipes is usually more than ten to hundreds of meters, and there are usually several to hundreds of inclinometer monitoring points; therefore, it is difficult to realize real-time monitoring of each monitoring point by manual monitoring. , Or meet the specification requirements of 2 times/day to 4 times/day, and there is no guarantee that the accuracy of each lifting or lowering is 500 (mm) apart. Therefore, in some special applications, such as large-area landslide monitoring, it is actually difficult to implement a large-scale real-time monitoring operation manually. The existing automatic measurement method is implemented by using multiple inclinometers to fill the inclinometer tube from end to end along the axis. Although it can replace the manual lifting and lowering operations of the inclinometer, a piece of n m The long inclinometer tube requires 2n inclinometers, which is expensive, and cannot realize the forward and backward measurement and return operations, and the cumulative error generated during the monitoring process is relatively large.
根据一个或者多个实施例，如图1所示。一种土***移监测***包括主控制器、升降机构、埋于土体中的测斜管以及置于测斜管内的测斜仪组件。其中，According to one or more embodiments, as shown in FIG. 1. A soil displacement monitoring system includes a main controller, a lifting mechanism, an inclinometer tube buried in the soil, and an inclinometer component placed in the inclinometer tube. in,
测斜管的上部开口伸出土体；The upper opening of the inclinometer tube extends out of the soil;
测斜仪组件，被置入所述测斜管内，通过测斜仪组件在测斜管内的移动，采集测斜管的倾斜数据；The inclinometer assembly is placed in the inclinometer tube, and the tilt data of the inclinometer tube is collected by the movement of the inclinometer assembly in the inclinometer tube;
主控制器与升降机构可以集成于一个控制平台上形成一个控制组件，升降机构用于牵引所述测斜仪组件在测斜管内的移动，主控制器用于控制所述升降机构的动作，同时控制测斜仪组件的测量过程，获得测斜仪组件的采集的测斜管的倾斜数据，该倾斜数据用于判断所述土体的位移情况。埋入土体的测斜管的上端穿出地面后被套入并定位在升降机构底板上设置的定位孔中。测斜仪组件不锈钢外壳体的一端通过钢缆与升降机构连接。The main controller and the lifting mechanism can be integrated on a control platform to form a control assembly. The lifting mechanism is used to pull the movement of the inclinometer assembly in the inclinometer tube, and the main controller is used to control the actions of the lifting mechanism while controlling In the measurement process of the inclinometer assembly, the inclination data of the inclinometer tube collected by the inclinometer assembly is obtained, and the inclination data is used to judge the displacement of the soil. The upper end of the inclinometer buried in the soil penetrates the ground and is sleeved and positioned in the positioning hole provided on the bottom plate of the lifting mechanism. One end of the stainless steel outer shell of the inclinometer assembly is connected with the lifting mechanism through a steel cable.
根据一个或者多个实施例，如图2所示。土***移监测***的主控制器包括，第一微处理器和牵引步进电机，该牵引步进电机电连接第一微处理器，用于驱动升降机构；第一短距通信模块与第一微处理器电连接，用于主控制器与测斜仪组件之间的数据交互；光学限位单元连接第一微处理器，通过检测钢缆绳上设置的光阻元件限制被钢缆绳吊装的测斜仪组件的复位位置；无线充电发送单元与第一微处理器连接，用于对测斜仪组件内的第二电池组进行无线充电；该远程通信模块与第一微处理器连接，用于主控制器与远程终端之 间的数据传输。According to one or more embodiments, as shown in FIG. 2. The main controller of the soil displacement monitoring system includes a first microprocessor and a traction stepper motor. The traction stepper motor is electrically connected to the first microprocessor for driving the lifting mechanism; the first short-distance communication module and the first The microprocessor is electrically connected for data interaction between the main controller and the inclinometer assembly; the optical limit unit is connected to the first microprocessor, and the optical resistance element set on the detection steel cable is used to limit the measurement that is hoisted by the steel cable. The reset position of the inclinometer assembly; the wireless charging sending unit is connected to the first microprocessor for wirelessly charging the second battery pack in the inclinometer assembly; the remote communication module is connected to the first microprocessor for Data transmission between the main controller and the remote terminal.
主控制器的电源电路包括工网适配器、太阳能电池板、太阳能充电管理单元，第一电池组单元、第一电池组管理单元和第一直流电源变换单元。The power circuit of the main controller includes an industrial network adapter, a solar panel, a solar charging management unit, a first battery pack unit, a first battery pack management unit, and a first DC power conversion unit.
工网适配器用于接入工业电网。太阳能电池板利用太阳能蓄电。工网适配器和太阳能电池板的输出端接入所述太阳能充电管理单元，用于对管理工业电网和太阳能电池板的切换控制以及对太阳能充电的管理。第一电池组单元用于对主控制器电路的电池供电。太阳能充电管理单元的输出端和电池组单元的输出端接入第一电池组管理单元，用于电池组与外部电源的切换控制以及对电池组充电的管理。第一直流电源变换单元连接第一电池组管理单元的输出端，用于将第一电池组管理单元输出的电压转换为多组不同电压的直流电源。The industrial network adapter is used to connect to the industrial power grid. Solar panels use solar energy to store electricity. The output end of the industrial network adapter and the solar panel is connected to the solar charging management unit, and is used for switching control of the management industrial power grid and the solar panel, and the management of solar charging. The first battery pack unit is used to supply power to the battery of the main controller circuit. The output end of the solar charge management unit and the output end of the battery pack unit are connected to the first battery pack management unit, and are used for switching control between the battery pack and the external power source and management of the battery pack charging. The first DC power conversion unit is connected to the output end of the first battery pack management unit, and is used for converting the voltage output by the first battery pack management unit into multiple groups of DC power supplies with different voltages.
优选的，考虑主控制器的电源电路组成，采用太阳能充电管理芯片BQ24650，输入电量为工网适配器输出VADP以及太阳能电池板输出VSOR。按照太阳能输入优先设计，因此VSOR要求高于VADP 2伏或以上。由于需要驱动牵引步进电机，如果采用57系列步进电机，则牵引步进电机的驱动电压至少不小于15伏，当考虑以锂电池端电压3伏为下限停止工作电压，需要5组串联锂电池组提供最低为15伏、最高为21伏的牵引步进电机驱动电源。为确保太阳能板提供的电量确保串联锂电池组充足电时21伏之需，采用了开路输出电压为32伏的太阳能电池板，工网适配器采用24伏输出。太阳能充电管理芯片(BQ24650)的输出+串联锂电池组VCELL(21伏)作为串联锂电池均衡充电管理芯片AD7280的输入电源。由串联锂电池均衡管理芯片AD7280组成的串联锂电池组均衡充电管理单元的输出VBAT作为直流电源变换供电单元的输入电源。Preferably, considering the power circuit composition of the main controller, the solar charge management chip BQ24650 is used, and the input power is the industrial network adapter output VADP and the solar panel output VSOR. According to the priority design of solar energy input, the VSOR requirement is higher than VADP 2 volts or more. Due to the need to drive the traction stepper motor, if the 57 series stepper motor is used, the driving voltage of the traction stepper motor is at least 15 volts. When considering the lithium battery terminal voltage of 3 volts as the lower limit to stop the operating voltage, 5 sets of lithium batteries in series are required The group provides traction stepper motor drive power with a minimum of 15 volts and a maximum of 21 volts. In order to ensure the power provided by the solar panel to ensure that the serial lithium battery pack is fully charged at 21 volts, a solar panel with an open circuit output voltage of 32 volts is used, and the industrial network adapter uses a 24 volt output. The output of the solar charge management chip (BQ24650) + series lithium battery pack VCELL (21 volts) is used as the input power of the series lithium battery equalization charge management chip AD7280. The output VBAT of the balance charge management unit of the series lithium battery pack composed of the series lithium battery balance management chip AD7280 is used as the input power of the DC power conversion power supply unit.
主控制器的微处理器采用微处理器芯片STM32L476，微处理器芯片STM32L476内置的实时时钟被编程为需要工作的时刻表。当工作时间到达，实时时钟唤醒微处理器芯片STM32L476，STM32L476完成初始化后，首先检测电池组电压是否在合适的范围内，如锂电池组输出电压低于15伏，则通过远程通信模块向终端服务平台连续三次发出工作电压过低信号后再次转入休眠状态，表示本次测量任务被取消。如果，锂电池组输出电压在正常范围，微处理器芯片STM32L476停止无线充电发送单元的工作，并以蓝牙方式向测斜仪发出“激活”信号。等待2秒后，再次向测斜仪发出“测量深度”信息，并等待3秒(此时测斜仪己经完成零步长四象限二维倾角测量)后发出“时间同步”信息。同时，微处理器芯片(STM32L476)控制牵引步进电机以250毫米/秒的速率使测斜仪下移到第一个500毫米的测量步长位置。等待4秒后，复用2秒牵引测斜仪下移到第二个500毫米的步长位置。因此，每个测量步长用时6秒：其中，500毫米位移用时2秒，等待测斜仪稳定2秒，测斜仪作四象限2维倾角测量用时2秒。The microprocessor of the main controller adopts the microprocessor chip STM32L476, and the built-in real-time clock of the microprocessor chip STM32L476 is programmed as the timetable that needs to work. When the working time arrives, the real-time clock wakes up the microprocessor chip STM32L476. After STM32L476 completes the initialization, it first checks whether the battery pack voltage is within the appropriate range. If the output voltage of the lithium battery pack is lower than 15 volts, it will serve the terminal through the remote communication module After the platform sends out the signal of low working voltage for three consecutive times, it goes to sleep again, indicating that the measurement task has been cancelled. If the output voltage of the lithium battery pack is in the normal range, the microprocessor chip STM32L476 stops the work of the wireless charging and sending unit and sends an "activation" signal to the inclinometer via Bluetooth. After waiting for 2 seconds, send the "Measuring Depth" message to the inclinometer again, and wait for 3 seconds (at this time the inclinometer has completed the zero-step four-quadrant two-dimensional inclination measurement) and then send out the "Time Synchronization" message. At the same time, the microprocessor chip (STM32L476) controls the traction stepper motor to move the inclinometer down to the first 500 mm measurement step position at a rate of 250 mm/sec. After waiting for 4 seconds, drag the inclinometer down to the second 500 mm step position for 2 seconds. Therefore, each measurement step takes 6 seconds: Among them, 500 mm displacement takes 2 seconds, waiting for the inclinometer to stabilize for 2 seconds, and the inclinometer for four-quadrant 2-dimensional inclination measurement takes 2 seconds.
例如，测量长度为4米、测量步长为500毫米、牵引步进电机牵引测斜仪的速率为4m/S(每米用时4秒)，则自发出“时间同步”信号后到完成全部测量总共经历了7个步长，用时42秒.停顿2秒后，并且点亮位置复位用红外发射二极管。微处理器芯片(STM32L476)控制牵引步进电机以250毫米/秒的速率使测斜仪向上起点位置运动，用时14秒到达原始起点(复位)。For example, if the measurement length is 4 meters, the measurement step length is 500 mm, and the speed of the traction stepper motor tow the inclinometer is 4m/S (4 seconds per meter), all measurements will be completed after the "time synchronization" signal is sent. After a total of 7 steps, it took 42 seconds. After a pause of 2 seconds, the infrared emitting diode for position reset was turned on. The microprocessor chip (STM32L476) controls the traction stepper motor to move the inclinometer up to the starting point at a rate of 250 mm/s, and it takes 14 seconds to reach the original starting point (reset).
因此，微处理器芯片(STM32L476)从发出“时间同步”信号到测斜仪完成测量并复位 共用时58秒。这个用时，在“测量深度”确定后，微处理器芯片(STM32L476)会自动计算并定时。微处理器芯片(STM32L476)收到测斜仪完成测量任务后回复到原始起点位置信号后，产生二个操作：Therefore, the microprocessor chip (STM32L476) takes 58 seconds from the time the "time synchronization" signal is sent to when the inclinometer completes the measurement and resets. This time, after the "measurement depth" is determined, the microprocessor chip (STM32L476) will automatically calculate and time it. After the microprocessor chip (STM32L476) receives the inclinometer to complete the measurement task and returns to the original starting position signal, it produces two operations:
1.转入接收测斜仪发送测量数据，1. Transfer to the receiving inclinometer to send measurement data,
2.接通无线充电发送单元。2. Turn on the wireless charging sending unit.
2秒后，微处理器芯片(STM32L476)依次以GPRS、RS232、RS485方式向终端服务平台、其它数据接收设备转发测量数据。转发数据后，微处理器芯片STM32L476将再次进入休眠模式，直到下次测量时间到达。After 2 seconds, the microprocessor chip (STM32L476) forwards the measurement data to the terminal service platform and other data receiving devices in GPRS, RS232, and RS485 modes. After forwarding the data, the microprocessor chip STM32L476 will enter the sleep mode again until the next measurement time arrives.
所述的光学限位单元用以控制测斜仪完成测量任务后回到原始起点位置，用以在复位失败情况时控制牵引步进电机紧急停止运动。光学及限位单元包括逻辑数字驱动芯片(74AUP2G17)、集成比较器LM293、红外发射二极管D8、红外接收二极管D9。当测斜仪完成测量任务后，微处理器芯片(STM32L476)使得测斜仪停顿2秒，然后控制牵引步进电机向上部的原始起点位置匀速提升测斜仪；当牵引测斜仪的钢缆绳上的光阻元件到达原始起点位置，遮挡住红外发射二极管D8时，红外接收管D9输出零电流。集成比较器(LM293)输出低电平，微处理器芯片(STM32L476)接收到该跃变低电平后，立即停止对牵引步进电机的牵引操作。The optical limit unit is used to control the inclinometer to return to the original starting position after completing the measurement task, and is used to control the traction stepper motor to emergency stop movement when the reset fails. The optical and limit unit includes a logic digital drive chip (74AUP2G17), an integrated comparator LM293, an infrared emitting diode D8, and an infrared receiving diode D9. When the inclinometer completes the measurement task, the microprocessor chip (STM32L476) makes the inclinometer pause for 2 seconds, and then controls the traction stepper motor to raise the inclinometer at a constant speed from the original starting position; when pulling the steel cable of the inclinometer When the upper photoresistive element reaches the original starting position and blocks the infrared emitting diode D8, the infrared receiving tube D9 outputs zero current. The integrated comparator (LM293) outputs a low level, and the microprocessor chip (STM32L476) immediately stops the traction operation of the traction stepper motor after receiving the transition to the low level.
无线充电发送单元采用无线GPRS、RS232、RS485、蓝牙等方式与外部设备实现信息交互。微处理器芯片(STM32L476)可以使用内置的蓝牙功能，实现与多种外部设备的信息交互。无线GPRS用以与终端服务平台间的信息交互，RS485在需要时可与现场管理部门实现有线数据交互，微处理器芯片(STM32L476)内置的蓝牙功能与测斜仪实现数据交互，控制组件如果采用液晶触摸屏，可以实现现场人机交互(具有最高优先权)。The wireless charging sending unit uses wireless GPRS, RS232, RS485, Bluetooth, etc. to realize information interaction with external devices. The microprocessor chip (STM32L476) can use the built-in Bluetooth function to realize information interaction with a variety of external devices. Wireless GPRS is used to exchange information with the terminal service platform. RS485 can realize wired data interaction with the on-site management department when needed. The built-in Bluetooth function of the microprocessor chip (STM32L476) realizes data interaction with the inclinometer. If the control component is used The LCD touch screen can realize on-site human-computer interaction (with the highest priority).
直流电源变换单元用以为本发明实施例的主控制器电路提供合适的工作电源。直流电源变换单元包括固定输出降压变换芯片(LM2594-5)、固定输出降压变换芯片(LM22677-5)、固定输出降压变换芯片(LM2594-3.3)，线性LDO稳压芯片IC5(TPS70618DB)，直流电源变换供电共输出+1.8、+5A、+5、+3.3四组直流电源，分别提供给相关电路单元使用。The DC power conversion unit is used to provide suitable working power for the main controller circuit of the embodiment of the present invention. The DC power conversion unit includes a fixed output buck converter chip (LM2594-5), a fixed output buck converter chip (LM22677-5), a fixed output buck converter chip (LM2594-3.3), and a linear LDO voltage regulator chip IC5 (TPS70618DB) , DC power conversion power supply outputs a total of +1.8, +5A, +5, +3.3 four groups of DC power supplies, which are respectively provided to related circuit units for use.
根据一个或者多个实施例，如图3所示，土***移监测***中的测斜仪组件包括，倾角传感器与第二微处理器连接，用于检测测斜管的倾斜角度；第二短距通信模块，与第二微处理器连接，用于向主控器批量传输测斜管倾斜数据；光电位置检测传感器，经过比较器连接第二微处理器，用于对所述倾角传感器的初始零角度的定位；第二步进电机通过第二步进电机控制器连接到第二微处理器，用于驱动倾角传感器沿着所述测斜管的圆截面转动；温度传感器，与第二微处理器连接，用于检测测斜管内的温度。According to one or more embodiments, as shown in FIG. 3, the inclinometer component in the soil displacement monitoring system includes an inclination sensor connected to a second microprocessor for detecting the inclination angle of the inclinometer; the second short The distance communication module is connected to the second microprocessor, and is used to transmit the inclinometer tilt data to the main controller in batches; the photoelectric position detection sensor is connected to the second microprocessor through the comparator, and is used for initializing the inclination sensor. Zero-angle positioning; the second stepper motor is connected to the second microprocessor through the second stepper motor controller, and is used to drive the inclination sensor to rotate along the circular section of the inclinometer; the temperature sensor, and the second micro The processor is connected to detect the temperature in the inclinometer tube.
测斜仪组件的电源电路还包括：无线充电接收单元、第二电池组、第二充电管理单元，无线充电接收单元获得的电能经所述第二充电管理单元接入第二电池组后，再经过第二直流电源变换单元的电压变换接入包括第二微处理器的所述测斜仪组件电路的电源电路。The power circuit of the inclinometer assembly also includes: a wireless charging receiving unit, a second battery pack, and a second charging management unit. After the electric energy obtained by the wireless charging receiving unit is connected to the second battery pack through the second charging management unit, The voltage conversion by the second DC power conversion unit is connected to the power supply circuit of the inclinometer component circuit including the second microprocessor.
优选的，测斜仪组件采用3维(X、Y、Z)微机电倾角传感器(ADXL355)、步进电机(JF15BYG-018)、步进电机控制芯片(STSPIN220)、导电滑环(SRM-12-12A)、光电位 置检测传感器(红外收发对管)、带蓝牙功能的微处理器(PTR9016)和与微处理器连接的集成比较器(MAX920)。测斜仪组件工作过程如下：Preferably, the inclinometer component adopts 3D (X, Y, Z) microelectromechanical inclination sensor (ADXL355), stepper motor (JF15BYG-018), stepper motor control chip (STSPIN220), conductive slip ring (SRM-12) -12A), photoelectric position detection sensor (infrared transceiver pair tube), microprocessor with Bluetooth function (PTR9016) and integrated comparator (MAX920) connected to the microprocessor. The working process of the inclinometer components is as follows:
当测斜仪的微处理器(PTR9610)收到主控制器以蓝牙方式发送来的“激活”信号，首先执行光学定位功能，光学定位的目的是确定每次测量时微机电倾角传感器(MEMS)X轴指向在测斜管圆截面上的固定初始角度位置。三轴倾角传感器(MEMS)由X、Y轴构成一个平面，三轴倾角传感器(MEMS)被安装在MEMS安装板上，其X轴指向安装板上开有的一个0.3毫米的小孔方向。正对该小孔，装有一个微型光学接受器件(LREC)。在MEMS安装板的下方沿测斜管圆截面某处安装有一个LED红外发射二极管(LTRANS)。When the microprocessor (PTR9610) of the inclinometer receives the "activation" signal sent by the main controller via Bluetooth, it first performs the optical positioning function. The purpose of the optical positioning is to determine the microelectromechanical tilt sensor (MEMS) for each measurement. The X axis points to a fixed initial angular position on the circular section of the inclinometer tube. The three-axis inclination sensor (MEMS) is composed of X and Y axes to form a plane. The three-axis inclination sensor (MEMS) is mounted on the MEMS mounting board, and the X axis points to a 0.3 mm hole on the mounting board. A micro-optical receiving device (LREC) is installed in front of the small hole. A LED infrared emitting diode (LTRANS) is installed somewhere along the circular cross section of the inclinometer below the MEMS mounting board.
执行光学定位的操作步骤包括：The steps to perform optical positioning include:
在微处理器(PTR9610)控制下，点亮发光二极管LTRANS；Under the control of the microprocessor (PTR9610), light up the LED LTRANS;
微处理器(PTR9610)结合步进电机控制芯片(STSPIN220)控制步进电机(JF15BYG-018)带动MEMS安装板沿测斜管圆截面旋转；The microprocessor (PTR9610) combined with the stepper motor control chip (STSPIN220) controls the stepper motor (JF15BYG-018) to drive the MEMS mounting board to rotate along the circular section of the inclinometer tube;
当MEMS安装板上的小孔对准LED红外发射二极管(LTRANS)时，MEMS安装板上的光学接收管(LREC)收到红外发射二极管穿过小孔的红外信号，When the small hole on the MEMS mounting board is aligned with the LED infrared emitting diode (LTRANS), the optical receiving tube (LREC) on the MEMS mounting board receives the infrared signal from the infrared emitting diode passing through the small hole.
接收到定位光信号的集成比较器(MAX920)电平翻转，输出高电平，接收到该高电平的微处理器(PTR9610)结合步进电机控制芯片(STSPIN220)控制步进电机(JF15BYG-018)停止旋转；The integrated comparator (MAX920) that receives the positioning light signal level flips and outputs a high level. The microprocessor (PTR9610) that receives the high level combines the stepping motor control chip (STSPIN220) to control the stepping motor (JF15BYG- 018) Stop rotating;
定义此时倾角传感器(MEMS)X轴指向为相对于测斜管圆截面上的初始零角度，于是完成了所谓的光学定位。It is defined that the inclination sensor (MEMS) X-axis direction at this time is relative to the initial zero angle on the circular section of the inclinometer tube, and the so-called optical positioning is completed.
完成光学定位操作后，微处理器(PTR9016)关闭发光二极管(LTRANS)，并等待主控制器发送的“测量深度”信息。微处理器(PTR9016)收到“测量深度”信息后，依据“测量深度”及500毫米为间距，自动计算所需的“测量步长数”。After the optical positioning operation is completed, the microprocessor (PTR9016) turns off the light-emitting diode (LTRANS) and waits for the "Measuring Depth" message sent by the main controller. After the microprocessor (PTR9016) receives the "Measuring Depth" information, it automatically calculates the required "Measuring Steps" based on the "Measuring Depth" and 500mm as the distance.
此后，测斜仪采样“零步长”(此时，测斜仪处于测斜管最顶端的复位位置)时对应测斜管圆截面上的4个角度(90度、180度、270度、0度)的二维倾角及温度数据。该操作完成后，测斜仪等待主控制器以蓝牙方式发送的“时间同步”信号。一旦收到“时间同步”信号，测斜仪的微处理器(PTR9016)复位内部定时计数器并开始重新定时计数。After that, when the inclinometer samples the "zero step" (at this time, the inclinometer is in the reset position at the top of the inclinometer tube), it corresponds to the 4 angles (90 degrees, 180 degrees, 270 degrees, 0 degrees) two-dimensional inclination angle and temperature data. After the operation is completed, the inclinometer waits for the "time synchronization" signal sent by the main controller via Bluetooth. Once the "time synchronization" signal is received, the microprocessor (PTR9016) of the inclinometer resets the internal timer counter and starts counting again.
此后，在每个6秒间隔的第4秒(升降结构以2秒控制测斜仪下降500毫米，2秒等待稳定，消除可能的机械振动带来的误差)采集对应测斜管圆截面上的4个角度(90度、180度、270度、0度)的二维倾角及温度数据。当测斜仪依据“测量深度”数据完成对应的“测量步长数”，停顿2秒后，测斜仪在自动升降机构的牵引下向上作匀速提升运动，直到回复到起始位置。再停顿2秒后，测斜仪子***(A)以蓝牙方式向主控制器发送全部测量数据。Thereafter, in the 4th second of each 6-second interval (the lifting structure controls the inclinometer to descend 500 mm in 2 seconds, and waits for stabilization in 2 seconds to eliminate possible errors caused by mechanical vibration) to collect the corresponding circular section of the inclinometer tube Two-dimensional inclination angle and temperature data of 4 angles (90 degrees, 180 degrees, 270 degrees, 0 degrees). When the inclinometer completes the corresponding "measurement step number" according to the "measurement depth" data, after a pause of 2 seconds, the inclinometer will move upwards at a constant speed under the traction of the automatic lifting mechanism until it returns to the starting position. After another 2 seconds of pause, the inclinometer subsystem (A) sends all measurement data to the main controller via Bluetooth.
测斜仪电源电路包括无线充电接收单元、为满足测斜仪各部分功能电路正常工作的直流电源变换电路、26650锂电池。无线充电接收电路接收主控制器中无线充电发射电路的电磁能量，为配置的26650锂电池充电。测斜仪组件采用无线充电接收集成电路(EC3028A)、锂电池充电集成电路(MCP73832)、升压变换集成电路(TPS63000)、低压差集成稳压电路(ADP150),26650锂电池等组成。对于26650-4100mAh锂电池(BT1)，由于测斜仪不工作时总是处于测斜管出土体端的上部，此时，无线充电接收集成电路(EC3028A)结合锂电池充电集成电路(MCP73832)总是接受主控制器对其实施的无线充电，使得锂电池BT1总 保持有V BAT(3.0～4.2伏)的电势。该V BAT经升压变换集成电路(TPS63000)升压成5伏直流工相应单元使用。同时，升压变换集成电路(TPS63000)的5伏输出，还提供为低压差集成稳压电路(ADP150)的输入电源，低压差集成稳压电路(ADP150)的输出3.3伏供相关单元使用。 The power supply circuit of the inclinometer includes a wireless charging receiving unit, a DC power conversion circuit to meet the normal operation of each part of the functional circuit of the inclinometer, and a 26650 lithium battery. The wireless charging receiving circuit receives the electromagnetic energy of the wireless charging transmitting circuit in the main controller, and charges the configured 26650 lithium battery. The inclinometer components are composed of wireless charging receiver integrated circuit (EC3028A), lithium battery charging integrated circuit (MCP73832), boost converter integrated circuit (TPS63000), low dropout integrated voltage regulator circuit (ADP150), 26650 lithium battery, etc. For the 26650-4100mAh lithium battery (BT1), because the inclinometer is always on the upper part of the excavated body end of the inclinometer tube when it is not working, at this time, the wireless charging receiver integrated circuit (EC3028A) combined with the lithium battery charging integrated circuit (MCP73832) is always Receive the wireless charging implemented by the main controller, so that the lithium battery BT1 always maintains the potential of V BAT (3.0-4.2 volts). The V BAT is boosted by a step-up converter integrated circuit (TPS63000) into a corresponding unit of 5V DC for use. At the same time, the 5 volt output of the boost converter integrated circuit (TPS63000) is also provided as the input power of the low dropout integrated voltage regulator circuit (ADP150), and the output of the low dropout integrated voltage regulator circuit (ADP150) is 3.3 volts for use by related units.
根据一个或者多个实施例，如图4、5和6所示，测斜仪各部件组装而成的测斜仪组件中无线充电接收单元和电源管理电路被分开设计在二块印刷线路板上，包括步进电机、锂电池等，均被内置于不锈钢高水密机械壳体中。为消除测量环境周边的电磁干扰，不锈钢高水密机械壳体由无磁性不锈钢(304 #)材质加工而成，其二端设计安装了二对间距为500毫米的弹性定位导轮。 According to one or more embodiments, as shown in Figures 4, 5 and 6, the wireless charging receiving unit and the power management circuit in the inclinometer assembly assembled from the components of the inclinometer are separately designed on two printed circuit boards , Including stepping motors, lithium batteries, etc., are all built into the stainless steel high watertight mechanical casing. In order to eliminate the electromagnetic interference around the measurement environment, the stainless steel high-watertight mechanical housing is made of non-magnetic stainless steel (304 # ). Two pairs of elastic positioning guide wheels with a spacing of 500 mm are installed at the two ends.
测斜仪组件的壳体机械结构由不锈钢外筒、滑轮、非金属顶盖、水密件等机械部件组成。采用非金属顶盖的目的是为无线蓝牙及无线充电电磁场、电磁场能量提供传播路径，实现测斜仪与主控制器间的信息交互及无线充电功能。机械部件的设计要点是防水、适应测斜管长期工作在水媒质环境。The mechanical structure of the housing of the inclinometer component is composed of mechanical parts such as a stainless steel outer cylinder, pulleys, non-metallic top cover, and watertight parts. The purpose of using a non-metal top cover is to provide a propagation path for wireless Bluetooth and wireless charging electromagnetic field and electromagnetic field energy, and realize the information interaction and wireless charging function between the inclinometer and the main controller. The key point of the design of mechanical parts is to be waterproof and adapt to the long-term working of the inclinometer tube in the water medium environment.
为便于组装时对倾角传感器MEMS的X、Y轴构成的平面垂直于重力线，测斜仪壳体由外筒1和外筒2两部分组成。装配时，先装配外筒1中内置的元器件及机械零件，包括：电池、电池压板、线路板、步进电机、倾角敏感元件MEMS等。然后，通过调整倾角传感器MEMS安装板上三个角度差为120度的、带有压簧的螺丝，将测斜敏感元件MEMS的X、Y轴调整到恰当机械位置(与重力线垂直)后，再装配外筒2。In order to facilitate assembly, the plane formed by the X and Y axes of the tilt sensor MEMS is perpendicular to the gravity line, the inclinometer housing is composed of an outer cylinder 1 and an outer cylinder 2. When assembling, first assemble the components and mechanical parts built in the outer cylinder 1, including: battery, battery pressure plate, circuit board, stepper motor, tilt sensor MEMS, etc. Then, adjust the X and Y axes of the tilt sensor MEMS to the proper mechanical position (perpendicular to the gravity line) by adjusting the three screws with a pressure spring on the MEMS mounting board with an angle difference of 120 degrees. Then assemble the outer cylinder 2.
测斜仪内的电路用以实现起始工作时确定3维微机电倾角传感器(MEMS)的初始位置(即采用光电定位方式确定MEMS倾角传感器之X轴指向在外筒圆周内的初始固定零角度)、以无线蓝牙方式收发与主控制器间的信息交互、完成3维微机电倾角传感器的数据采样、完成分层温度测量、根据测量深度自动计算以500毫米为间距的测量步长数、控制微机电倾角传感器(MEMS)沿测斜管圆周作从零角度始、角度差为90度的四象限旋转。步进电机控制接线通过连接滑环与微处理器及电源连接。The circuit in the inclinometer is used to determine the initial position of the 3D microelectromechanical tilt sensor (MEMS) at the beginning of the work (that is, the photoelectric positioning method is used to determine the X axis of the MEMS tilt sensor to point to the initial fixed zero angle within the circumference of the outer cylinder) , Use wireless Bluetooth to send and receive information with the main controller, complete the data sampling of the 3-dimensional microelectromechanical tilt sensor, complete the layered temperature measurement, automatically calculate the number of measurement steps with a distance of 500 mm according to the measurement depth, and control the micro The electromechanical inclination sensor (MEMS) makes a four-quadrant rotation starting from zero angle and the angle difference is 90 degrees along the circumference of the inclinometer tube. The control wiring of the stepping motor is connected with the microprocessor and the power supply by connecting the slip ring.
根据一个或者多个实施例，如图7、8、9和10。土***移监测***的升降机构的工作过程由主控制器控制。所述升降机构包括：钢缆滚筒组件，用于钢缆绳的绕卷；主动轮，由步进电机通过步进电机驱动器驱动；从动轮，经该从动轮的钢缆绳吊挂测斜仪组件；编码器，该编码器安装于编码器支架上，与从动轮共轴的齿轮也对应编码器安装于所述编码器支架上，将从动轮的转速信号传递至编码器；过渡轮，吊挂测斜仪组件的钢缆绳经从动轮后，经所述过渡轮后再吊挂所述测斜仪组件。定位架，在该定位架上设有光学限位单元，用于所述钢缆绳的复位检测。According to one or more embodiments, as shown in Figures 7, 8, 9 and 10. The working process of the lifting mechanism of the soil displacement monitoring system is controlled by the main controller. The lifting mechanism includes: a steel cable drum assembly for winding steel cables; a driving wheel, which is driven by a stepping motor through a stepping motor driver; a driven wheel, which suspends the inclinometer assembly via the steel cable of the driven wheel; Encoder, the encoder is installed on the encoder bracket, and the gear coaxial with the driven wheel is also installed on the encoder bracket corresponding to the encoder, and the speed signal of the driven wheel is transmitted to the encoder; transition wheel, hanging measurement After the steel cable of the inclinometer assembly passes the driven wheel, after passing the transition wheel, the inclinometer assembly is hung. The positioning frame is provided with an optical limit unit for the reset detection of the steel cable.
升降机构由安装脚，底板，各类托架、支架、支撑板、及定位架，钢缆滚筒组件，从动轮组件，步进电机，步进电机驱动器，无线充电盒，电池等21个机械及电气部件组成。为了有效增加不锈钢钢丝缆绳在从动轮组件上的切向摩擦力，不致钢丝绳挂载3公斤负荷(测斜仪的重量为2.7公斤)时产生打滑现象，钢缆滚筒组件、从动轮组件、及钢丝绳间的机械配合设计成如图8的结构。考虑到本实施例的升降机械及传动结构可能处于长期运 用于野外作业场合，所有机械零部件均采用了抗氧化、生锈的材料加工而成。The lifting mechanism consists of 21 machines including mounting feet, bottom plates, various brackets, brackets, support plates, and positioning frames, steel cable drum components, driven wheel components, stepping motors, stepping motor drivers, wireless charging boxes, batteries, etc. Composition of electrical components. In order to effectively increase the tangential friction force of the stainless steel wire rope on the driven wheel assembly, the steel cable drum assembly, driven wheel assembly, and wire rope will not slip when the wire rope is mounted with a load of 3 kg (the weight of the inclinometer is 2.7 kg). The mechanical cooperation is designed as shown in Figure 8. Considering that the lifting machinery and transmission structure of this embodiment may be used in field operations for a long time, all mechanical parts are made of materials that resist oxidation and rust.
自动升降结构与测斜仪通过钢缆绳连接，钢缆的一端与升降结构的主动转轴盘连接，另一端通过从动滑轮圆盘与测斜仪连接。升降机构对测斜仪的牵引控制是通过牵引步进电机带动主动转轴盘、并通过卷绕在从动滑轮圆盘上的不锈钢钢缆与之产生的摩擦力带动从动滑轮圆盘转动实现的。主动转轴盘还完成不锈钢钢缆的卷盘功能。从动滑轮圆盘，通过将数字编码器与动滑轮圆盘联动的机械设计，检测动滑轮圆盘总转动角度，结合动滑轮圆盘的直径，可得到精确的钢丝绳的运动长度；编码器的输出信号还可被用来控制自动升降及控制子***中的步进电机的转速，从而达到匀速控制钢丝绳的运动之目的。The automatic lifting structure and the inclinometer are connected by a steel cable, one end of the steel cable is connected with the active rotating shaft plate of the lifting structure, and the other end is connected with the inclinometer through a driven pulley disc. The traction control of the lifting mechanism to the inclinometer is realized by traction of the stepping motor to drive the active shaft disk, and the friction force generated by the stainless steel cable wound on the driven pulley disk to drive the driven pulley disk to rotate. The active reel also completes the reel function of the stainless steel cable. The driven pulley disc, through the mechanical design of linking the digital encoder with the movable pulley disc, detects the total rotation angle of the movable pulley disc, combined with the diameter of the movable pulley disc, can obtain the precise movement length of the wire rope; the output signal of the encoder can also be It is used to control the automatic lifting and the speed of the stepping motor in the control subsystem, so as to achieve the purpose of controlling the movement of the wire rope at a uniform speed.
根据一个或者多个实施例，主控制器配置了蓝牙、GPRS无线通信及RS485有线数据传输功能，与测斜仪组件交互控制指令和测试数据，沟通异地终端服务平台与监测现场间的数据交互、制定相关通信协议、提供异地终端服务平台监测分析软件，实现对现场数据的分析及反分析、图表显示、报表形成，实现异地异地终端服务平台对现场每个倾斜监测点设备电量的监视、报警(包括测量数据偏离了设定界限、某个现场监测点设备需要充电等)、对现场指定工作模式(包括现场每个倾斜监测点所需要的测量深度、测量时间)、原始数据记录等功能。According to one or more embodiments, the main controller is equipped with Bluetooth, GPRS wireless communication and RS485 wired data transmission functions, interacts with the inclinometer component for control instructions and test data, communicates data interaction between the remote terminal service platform and the monitoring site, Develop relevant communication protocols, provide remote terminal service platform monitoring and analysis software, realize on-site data analysis and anti-analysis, chart display, and report formation, and realize remote terminal service platform to monitor and alarm the equipment power of each inclined monitoring point on site ( Including the measurement data deviating from the set limit, a certain on-site monitoring point equipment needs to be charged, etc.), the designated working mode for the site (including the measurement depth and measurement time required for each tilt monitoring point on the site), raw data recording and other functions.
异地终端服务平台包括客户端与服务端，由GPRS远程无线数据透传模块方式沟通客户端与主控制器、服务端与主控制器间的信息交互。异地终端服务平台用以在异地实现对现场测量数据的分析及反分析、图表显示、报表形成、对工程现场个体倾斜监测点设备的电量监视、报警(包括测量数据偏离了设定界限、某个现场监测点设备需要充电等)、对现场指定工作模式(包括现场每个倾斜监测点所需要的测量深度、测量时间)、原始数据记录等功能。The remote terminal service platform includes a client and a server. The GPRS remote wireless data transparent transmission module communicates the information interaction between the client and the main controller, and between the server and the main controller. The remote terminal service platform is used to realize the analysis and anti-analysis of on-site measurement data, chart display, report formation, power monitoring of individual tilt monitoring point equipment on the project site, and alarm (including measurement data deviating from the set limit, certain On-site monitoring point equipment needs to be charged, etc.), designated working mode for the site (including the measurement depth and measurement time required by each tilt monitoring point on the site), raw data recording and other functions.
异地终端服务平台软件采用C/S架构，利用.net语言，结合SQL Sever数据库，软件架构为三层架构(表现层(UI),业务逻辑层(BLL)和数据访问层(DAL)，代码层次化、模块化，结构清晰易维护。无线微处理器将采集到的数据，形成报文并传送给硬件设备DTU(数据终端设备，宏电H7210透明传输模块)，DTU通过UDP协议和DDP协议利用GPRS信号将数据包无线传送，服务端采用Socket网络编程，报文经过移动网络路由器和互联网路由进行路由选择，直接到达目的地—服务器；目的地服务器根据制定的测斜协议对数据进行拆包、分类，保存，并对数据进行分析，计算、存档，实时报警(通过***发送短信)，将分析数据反映到现场客户端；还可以通过远程服务器实现对现场信息的监控，远程设定DTU参数，设定现场采样间隔，握手，错误重传等。客户端实现现场监测人员对项目进行管理：包括数据采集、项目信息管理、现场项目配置。The remote terminal service platform software adopts C/S architecture, using .net language, combined with SQL Sever database, and the software architecture is a three-tier architecture (presentation layer (UI), business logic layer (BLL) and data access layer (DAL), code level) Modularization, clear structure and easy maintenance. The wireless microprocessor forms the collected data into a message and transmits it to the hardware device DTU (data terminal equipment, H7210 transparent transmission module). DTU uses UDP protocol and DDP protocol. The GPRS signal transmits the data packet wirelessly, and the server uses Socket network programming. The message is routed through the mobile network router and Internet routing, and directly reaches the destination—the server; the destination server unpacks the data according to the established inclinometer protocol. Categorize, save, and analyze the data, calculate, archive, alarm in real time (send SMS via SMS modem), and reflect the analysis data to the on-site client; you can also monitor on-site information through a remote server, and set DTU parameters remotely , Set on-site sampling interval, handshake, error retransmission, etc. The client realizes on-site monitoring personnel to manage the project: including data collection, project information management, and on-site project configuration.
现场监测人员可以对项目进行日常信息维护，包括基本信息、计算书、地质资料、项目图纸、对现场单体监测点进行配置(包括设定监测频度、设定测量深度、报警值)、设置公式、为监测现场设置工程底图、根据现场监测点分布为工程底图添加或删除监测点、设定DTU远程通信等。在配置和查询中，通过WPF用户控件实现配置移动、放大、缩小，显得直观、方便。整个框架通过DonnetBar组件使界面更加美观。客户端和服务端用户均可根据需求查询测斜数据，监测数据最终通过Zedgraph绘制各种数据列表及曲线图。通过 AxFramerControl，用户还可以实现数据存档、打印、数据列表、日志管理(报警日志、修改/删除日志)、历史数据管理(原始历史数据、初始历史数据、中间历史数据、最终历史数据)等功能。On-site monitoring personnel can perform daily information maintenance on the project, including basic information, calculation sheets, geological data, project drawings, configuration of on-site single monitoring points (including setting monitoring frequency, setting measurement depth, alarm value), setting Formula, set the project base map for the monitoring site, add or delete monitoring points for the project base map according to the distribution of the site monitoring points, set DTU remote communication, etc. In configuration and query, configuration movement, zoom in, and zoom out are realized through WPF user controls, which is intuitive and convenient. The entire framework makes the interface more beautiful through the DonnetBar component. Both client and server users can query the inclinometer data according to their needs, and the monitoring data will finally draw various data lists and graphs through Zedgraph. Through AxFramerControl, users can also realize data archiving, printing, data list, log management (alarm log, modify/delete log), historical data management (original historical data, initial historical data, intermediate historical data, final historical data) and other functions.
根据一个或者多个实施例，一种土***移监测方法，基于包括主控制器、升降机构、埋于土体中的测斜管以及置于测斜管内的测斜仪的监测***，该检测方法操作步骤包括，According to one or more embodiments, a method for monitoring soil displacement is based on a monitoring system including a main controller, a lifting mechanism, an inclinometer embedded in the soil, and an inclinometer placed in the inclinometer. The method operation steps include,
该方法以远程无线通信、或使用人机交互界面(触摸液晶屏)设定工作模式(工作模式包括测量深度、测量时间)；This method uses remote wireless communication or a human-computer interaction interface (touch LCD screen) to set the working mode (working mode includes measuring depth and measuring time);
以蓝牙无线传输方式激活智能测斜仪，并实现与主控制器的时钟同步；Activate the smart inclinometer via Bluetooth wireless transmission and synchronize with the clock of the main controller;
在测斜仪完成监测后回到初始位置时(即返回到测斜管穿出土体后的上端位置)，为测斜仪实施无线充电功能，将测量数据以各种方式外传；When the inclinometer returns to the initial position after completing the monitoring (that is, returns to the upper position after the inclinometer tube penetrates the excavated soil body), implement the wireless charging function for the inclinometer, and transmit the measurement data in various ways;
测量时，以每隔500米为间距测取数据，升降机构自动牵引测斜仪的升降；When measuring, the data is measured every 500 meters, and the lifting mechanism automatically pulls the inclinometer up and down;
以短程蓝牙方式接收测斜仪的的批测量数据；Receive batch measurement data from the inclinometer via short-range Bluetooth;
以无线通信方式与终端服务平台实现信息交互，远程交互信息包括：Realize information interaction with the terminal service platform through wireless communication. The remote interaction information includes:
1.终端服务平台发出的需要改变某监测点的测量深度及测量时间信息，1. The information sent by the terminal service platform that needs to change the measurement depth and measurement time of a monitoring point,
2.每次测量结束后送往终端服务平台的测量数据信息，以及控制组件和测斜仪的电池供电状态信息。2. The measurement data information sent to the terminal service platform after each measurement, as well as the battery power supply status information of the control component and the inclinometer.
如有需要，以RS485方式为监测现场提供有线数据交互等功能。If necessary, provide wired data interaction and other functions for the monitoring site by means of RS485.
举例如下，主控制器在接收到工作模式设定参数(测量深度、测量时间)后，自动换算为以500(mm)为间隔分割测量深度所对应的测量次数(步长数)，并保存该参数。带有实时时钟功能的微处理器配合设置的测量时间完成自动适时测量。当到达设定测量时间时，主控制器将执行下述操作：For example, after the main controller receives the working mode setting parameters (measurement depth, measurement time), it automatically converts it to the measurement times (number of steps) corresponding to the measurement depth divided by 500 (mm) intervals, and saves the parameter. The microprocessor with real-time clock function cooperates with the set measurement time to complete automatic timely measurement. When the set measurement time is reached, the main controller will perform the following operations:
1.以蓝牙无线方式向测斜仪发出激活信号；1. Send an activation signal to the inclinometer via Bluetooth wireless;
2.等待A秒内后，以蓝牙无线方式向测斜仪发出测量深度参数，2. After waiting for A second, send the measurement depth parameter to the inclinometer via Bluetooth wirelessly,
3.再等待B秒后，以蓝牙方式向测斜仪发出时间同步信号，定义该时刻点为主控制器和测斜仪开始工作零时刻，启动各自的定时计数器开始计数，并驱动牵引步进电机以L(mm)/s速率匀速下放测斜仪，D秒后测斜仪被下放了500mm，测斜仪停顿C秒(其中c1秒用以消除因运动导致的机械振动，c2秒用以等待测斜仪中的倾角敏感元件沿测斜管圆截面以4个象限(0度，90度，180度，270度)转向方式采集的二维倾角数据；3. After waiting for another B seconds, send a time synchronization signal to the inclinometer via Bluetooth, define the time point when the main controller and the inclinometer start to work, start their respective timing counters to start counting, and drive the traction step The motor lowers the inclinometer at a constant speed at the rate of L(mm)/s. After D seconds, the inclinometer is lowered 500mm, and the inclinometer stops for C seconds (where c1 second is used to eliminate mechanical vibration caused by movement, and c2 second is used Waiting for the inclination sensor in the inclinometer to collect the two-dimensional inclination data in 4 quadrants (0 degrees, 90 degrees, 180 degrees, and 270 degrees) along the circular section of the inclinometer tube;
执行数据存储操作(每个旋转角度步长为90度，倾角敏感元件每转向90度将作一短暂停止操作，以便完成数据采集)；Perform data storage operations (each rotation angle step is 90 degrees, and the inclination sensor will make a short stop every time it turns 90 degrees to complete data collection);
4.然后重复上述的过程，直到完成测量步长数。4. Then repeat the above process until the measurement step number is completed.
完成全部测量后，升降机构将停顿E秒，然后开始以L(mm)/s速率匀速提拉测斜仪，直到主控制器接收到复位信号(到达测斜管穿出土体后的上端位置)，升降机构停止对测斜仪的牵引，测斜仪回到起始原点，此操作需时为F秒。After all the measurements are completed, the lifting mechanism will stop for E seconds, and then start to pull the inclinometer at a constant speed at a rate of L(mm)/s until the main controller receives the reset signal (reaching the upper end position after the inclinometer tube penetrates the soil body ), the lifting mechanism stops pulling the inclinometer, and the inclinometer returns to the starting point. This operation takes F seconds.
主控制器开始转入、并等待接收测斜仪以蓝牙无线方式发来的测量数据(包括采集到的分层二维倾斜数据、分层温度、测斜仪电池供电状况信息)，该段操作的总时间为G秒。G秒后，主控制器将本次测量的所有信息通过GPRS无线模块向终端服务平台发送，这些信息中包括测得的分层倾斜、分层温度、地面温度、主控制器和测斜仪电池组电气状态。发 送结束后，主控制器中的微处理器送出“ENBL”为低电平，启动无线充电模块，为测斜仪实施无线充电，直到下个测量周期止。The main controller starts to transfer and waits to receive the measurement data sent by the inclinometer via Bluetooth wireless mode (including the collected layered two-dimensional inclination data, layered temperature, and battery power supply status information of the inclinometer), this section of operation The total time is G seconds. After G seconds, the main controller sends all the information of this measurement to the terminal service platform through the GPRS wireless module. These information include the measured layered tilt, layered temperature, ground temperature, the main controller and the inclinometer battery Group electrical status. After sending, the microprocessor in the main controller sends "ENBL" as low level, starts the wireless charging module, and implements wireless charging for the inclinometer until the next measurement cycle.
其中，测斜数据的采集采用三维高精度MENMS倾角传感器及其信号调理电路用以检测MENMS倾角传感器X、Y轴相对于重力轴间的倾角变化，并对倾角测量值实施20位精度的A/D转换。三维高精度MENMS倾角传感器还集成有温度传感器，用以检测分层温度信息。光学初始角度定位，用以测量时确定MEMS倾角传感器在测斜管组成的圆截面上的零角度。Among them, the acquisition of the inclinometer data adopts the three-dimensional high-precision MENMS inclinometer and its signal conditioning circuit to detect the change of the inclination angle between the X and Y axis of the MENMS inclinometer relative to the gravity axis, and implement the 20-bit precision A/ D conversion. The three-dimensional high-precision MENMS tilt sensor is also integrated with a temperature sensor to detect layered temperature information. The optical initial angle positioning is used to determine the zero angle of the MEMS inclination sensor on the circular section formed by the inclinometer tube during measurement.
测斜仪完整测量过程如下。The complete measurement process of the inclinometer is as follows.
测斜仪通过无线蓝牙方式实现与主控制器的信息交互。当测斜仪中的无线蓝牙模块接收到主控制器发送来的“激活”信息后，测斜仪中的微处理器被激活。The inclinometer realizes the information interaction with the main controller through wireless Bluetooth. When the wireless Bluetooth module in the inclinometer receives the "activation" message sent by the main controller, the microprocessor in the inclinometer is activated.
随之，执行下述过程：Subsequently, the following process is performed:
1.执行光学定位操作，光学定位操作的目的是使得倾斜测量用的三维MEMS倾角传感器芯片(X，Y轴)复零(复位到测斜管圆截面上设定的固定零角度)；1. Perform optical positioning operation. The purpose of the optical positioning operation is to reset the three-dimensional MEMS tilt sensor chip (X, Y axis) for tilt measurement (reset to the fixed zero angle set on the circular section of the inclinometer tube);
2.等待并接收主控制器随后发送的“测量深度”信息；接收到“测量深度”信息后，测斜仪依据收到的“测量深度”信息自动计算依据500mm测量间距所需的测量步长数，并保存；此时测斜仪处于测斜管最顶端(复位位置)。2. Wait for and receive the "Measuring Depth" information sent by the main controller; after receiving the "Measuring Depth" information, the inclinometer will automatically calculate the measurement step required for 500mm measurement distance based on the received "Measuring Depth" information Count and save; now the inclinometer is at the top of the inclinometer tube (reset position).
3.测斜仪中的步进电机离开0角度位置旋转90度，稍作停顿后，采样测斜管圆截面90度时三维MEMS倾角传感器其X、Y轴相关垂直重力轴方向的偏移倾角；3. The stepping motor in the inclinometer rotates 90 degrees away from the 0 angle position, and after a short pause, the three-dimensional MEMS inclination sensor when the circular section of the inclinometer tube is 90 degrees, the offset inclination angle of the X and Y axis relative to the vertical gravity axis direction of the three-dimensional MEMS inclination sensor ；
4.测斜仪中的步进电机离开90角度位置旋转到180度，稍作停顿后，采样测斜管圆截面180度时三维MEMS倾角传感器其X、Y轴相关垂直重力轴方向的偏移倾角；4. The stepping motor in the inclinometer rotates to 180 degrees away from the 90-degree position. After a short pause, the offset of the three-dimensional MEMS inclination sensor when the circular cross-section of the inclinometer tube is 180 degrees and its X and Y axis are related to the vertical gravity axis. inclination;
5.重复上述过程，直到三维MEMS倾角传感器回到初始0角度位置、并采集了0角度时三维MEMS倾角传感器其X、Y轴相关垂直重力轴方向的偏移倾角后；5. Repeat the above process until the 3D MEMS inclination sensor returns to the initial 0-angle position, and after collecting the offset inclination angle of the 3D MEMS inclination sensor in the direction of the vertical gravity axis relative to the X and Y axes at 0 angle;
6.测斜仪进入等待主控制器发出“时钟同步”信息。6. The inclinometer enters and waits for the "clock synchronization" message from the main controller.
所述的光学定位操作包括：The optical positioning operation includes:
将倾角传感器安装在倾角传感器MEMS安装板上，使得倾角传感器X轴指向倾角传感器MEMS安装板上开有的小孔方向；Mount the tilt sensor on the MEMS mounting plate of the tilt sensor so that the X axis of the tilt sensor points to the small hole on the MEMS mounting plate of the tilt sensor;
在所述倾角传感器安装板的一侧设置光接收器，在所述倾角传感器安装板的另一侧正对光接收器的位置设置光发送器，An optical receiver is arranged on one side of the inclination sensor mounting plate, and an optical transmitter is arranged on the other side of the inclination sensor mounting plate facing the optical receiver,
第二步进电机驱动倾角传感器安装板沿测斜管圆截面旋转至光接收、发送器对时，所述倾角传感器安装板上的小孔正好位于光发送器与光接收器之间，光发送器发送的光线穿过小孔后被光接收器接收到，定义此时倾角传感器X轴指向为相对于测斜管圆截面上的初始零角度，完成所述的光学定位操作。The second stepping motor drives the tilt sensor mounting plate to rotate along the circular section of the inclinometer tube to the light receiving and transmitter pairing. The small hole on the tilt sensor mounting plate is located exactly between the light transmitter and the light receiver, and the light transmitting The light sent by the sensor passes through the small hole and is received by the light receiver. It is defined that the X-axis of the inclination sensor is pointed at the initial zero angle relative to the circular section of the inclinometer tube to complete the optical positioning operation.
当测斜仪接收到时钟同步信息后，测斜仪立即执行下述操作：When the inclinometer receives the clock synchronization information, the inclinometer immediately performs the following operations:
1.启动定时计数器开始定时计数；1. Start the timing counter to start timing counting;
2.计数到c1秒后执行四象限倾角数据采集并保存。当计数到C秒后，清除计数值并重新计时(定时计数器复位)，重新计时到D+c1秒后，采集第一个步长的二维MEMS倾角传感器的输出数据并保存；2. After counting to c1 second, perform four-quadrant inclination data acquisition and save. When the count reaches C seconds, clear the count value and re-time (time counter reset), after re-counting to D+c1 second, collect the output data of the first two-dimensional MEMS inclination sensor and save it;
3.清除计数值并重新计时(定时计数器复位)，重新计时到D+c1秒后，采集第二个步长的二维MEMS倾角传感器的输出数据并保存；3. Clear the count value and re-timing (time counter reset), after re-timing to D+c1 second, collect and save the output data of the second step two-dimensional MEMS inclination sensor;
依次类推，直至最后一个采样步长。And so on, until the last sampling step.
假定在一支埋深10米的测斜管中进行二维倾角测量，并且假定测斜仪初始位置处于穿出土体测斜管的上端，由此可知，测量步长数N为(2×10)-1，在时间同步后，除了起始位置采样二维倾角数据依据程式规定为C秒外，其余N个测量步长中每个测量步长开销C+D秒；因此全部测量时间开销T CL＝C+N×(C+D)秒。完成全部测量后停顿E秒，又开销测斜仪复位时间F＝10(m)/L(mm)/s,测斜仪回到起始原位。因此，整个过程开销时间T TOTAL＝T CL+F秒。 It is assumed that the two-dimensional inclination measurement is carried out in an inclinometer with a buried depth of 10 meters, and the initial position of the inclinometer is assumed to be at the upper end of the inclinometer through the excavated body. It can be seen that the number of measurement steps N is (2×10 )-1, after time synchronization, except that the initial position sampling two-dimensional inclination data is specified as C seconds according to the program, the cost of each measurement step in the remaining N measurement steps is C+D seconds; therefore, the total measurement time cost T CL =C+N×(C+D) seconds. After completing all measurements, there is a pause for E seconds, and the reset time of the inclinometer is F=10(m)/L(mm)/s, and the inclinometer returns to the original position. Therefore, the overall process overhead time T TOTAL = T CL + F seconds.
倾角传感器对于每个500mm步长，沿测斜管圆周实施了4象限的数据采样。因此可以得到测斜管在某分层处发生关于轴线偏移的矢量增量值。在完成一个步长倾角测量后，采样MEMS传感器内置温度传感器的温度值，存储所有采样数据后，完成该步长下所有的操作。The tilt sensor implements 4-quadrant data sampling along the circumference of the inclinometer for each step length of 500mm. Therefore, the vector increment value of the axis deviation of the inclinometer tube at a certain layer can be obtained. After completing a step inclination measurement, sample the temperature value of the built-in temperature sensor of the MEMS sensor, and after storing all the sampled data, complete all operations under the step.
由于测斜仪工作时大多浸没于水中环境，测量数据在水中无法实现无线方式发送，将定时采样MEMS倾斜传感器(X，Yy轴)的输出数据存储于记忆体中，一旦测斜仪回到初始位置后(测斜管上端，脱离了浸没在水中的环境)，将采集到的存于记忆体中的数据以无线蓝牙方式成批发送至主控制器。Because most of the inclinometer is immersed in the water environment when working, the measurement data cannot be sent wirelessly in the water. The output data of the timed sampling MEMS tilt sensor (X, Yy axis) is stored in the memory. Once the inclinometer returns to the initial stage After the position (the upper end of the inclinometer tube is separated from the environment immersed in the water), the collected data stored in the memory is sent to the main controller in batches by wireless Bluetooth.
根据本发明实施例，本发明的有益效果包括：According to the embodiments of the present invention, the beneficial effects of the present invention include:
1.采用近程及远程无线数据通信，实现了无电缆智能控制及数据传送；1. Adopt short-range and long-range wireless data communication to realize cable-free intelligent control and data transmission;
2.采用了蓝牙技术，实现了主控制器与测斜仪二个独立工作子***的无线时钟同步，；2. Using Bluetooth technology to achieve wireless clock synchronization between the main controller and the two independent working subsystems of the inclinometer;
3.采用了数字编码器实现不锈钢缆绳运动距离及步进电机运动速率的精确控制；3. A digital encoder is used to achieve precise control of the movement distance of the stainless steel cable and the movement speed of the stepping motor;
4.仅需一支测斜仪完成了在测斜管圆截面上以0(360)度、90度、180度、270度四象限方式精确测量X轴、Y轴关于测斜管轴线Z轴(垂线方向)的倾角(调试时，使得X轴和Y轴构成的平面与Z垂直)；4. Only one inclinometer is required to accurately measure the X-axis, Y-axis and Z-axis of the inclinometer tube in the four-quadrant mode of 0 (360), 90, 180, and 270 degrees on the circular section of the inclinometer tube. (Vertical direction) inclination angle (when debugging, make the plane formed by X axis and Y axis perpendicular to Z);
5.采用控制组件对复位后的测斜仪实施无线智能充电方式补偿测斜仪的电能；5. Use the control component to implement a wireless intelligent charging method for the reset inclinometer to compensate the electric energy of the inclinometer;
6.可实现高频度监测，此功能在被测土体存在危险移动时，尤其适用；6. It can realize high-frequency monitoring. This function is especially suitable when the tested soil has dangerous movement;
7.可实现定时监测，尤其适用于大坝、水道在洪峰到达时的土***移监测；7. Timed monitoring can be realized, especially suitable for monitoring the soil displacement of dams and waterways when the flood peaks are reached;
8.利用微处理器中实时时钟实现：一旦设定了工作模式，长期自动定时监测；8. Use the real-time clock in the microprocessor to realize: once the working mode is set, long-term automatic timing monitoring;
9.采用了红外光电位置检测、限位开关控制紧急刹车等措施，确保测斜仪完成测量后精确复位，消除了监测长度及测斜仪复位位置的累计偏差；9. Infrared photoelectric position detection, limit switch control emergency brake and other measures are adopted to ensure that the inclinometer is accurately reset after the measurement is completed, and the cumulative deviation of the monitoring length and the reset position of the inclinometer is eliminated;
10.采用了先进的具有20位量化精度的三轴MEMS倾角传感器技术，具有体积小、测量精度高的优点；10. It adopts advanced three-axis MEMS tilt sensor technology with 20-bit quantization accuracy, which has the advantages of small size and high measurement accuracy;
11.具有被测土体分层和地面环境的双重温度监视功能；11. With the dual temperature monitoring function of the measured soil layer and the ground environment;
12.充分的冗余供电设计，原则上无需人为干预能量补充；12. Adequate redundant power supply design, in principle, no need for human intervention to supplement energy;
13.全智能化操作，完全避免了人工测斜所带来的劳动成本上升、人工操作带来的测量误差。13. Fully intelligent operation completely avoids the increase in labor cost caused by manual inclinometer and the measurement error caused by manual operation.
14.由客户端和服务端二部分组成的终端服务平台软件，为现场监测人员及异地管理人员分别提供了便利、多功能的信息管理、信息分析、信息配置、信息修改、曲线图表等功能。14. The terminal service platform software composed of two parts: client and server provides convenient and multifunctional information management, information analysis, information configuration, information modification, curve chart and other functions for on-site monitoring personnel and remote management personnel.
15.本发明完全无须人为干预(包括供电管理)实现长期无人值守情况下的智能监测。值得说明的是，虽然前述内容已经参考若干具体实施方式描述了本发明创造的精神和 原理，但是应该理解，本发明并不限于所公开的具体实施方式，对各方面的划分也不意味着这些方面中的特征不能组合，这种划分仅是为了表述的方便。本发明旨在涵盖所附权利要求的精神和范围内所包括的各种修改和等同布置。15. The present invention does not require human intervention (including power supply management) to realize intelligent monitoring under long-term unattended conditions. It is worth noting that although the foregoing content has described the spirit and principle of the present invention with reference to several specific embodiments, it should be understood that the present invention is not limited to the disclosed specific embodiments, and the division of various aspects does not imply these. The features in the aspect cannot be combined. This division is only for the convenience of presentation. The present invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

Claims (22)

  1. 一种土***移监测***，包括，A soil displacement monitoring system includes:
    至少一支测斜管，被埋入待测土体中，且所述测斜管上部开口伸出土体；At least one inclinometer tube is buried in the soil to be tested, and the upper opening of the inclinometer tube extends out of the soil;
    测斜仪组件，被置入所述测斜管内，通过测斜仪组件在测斜管内的移动，采集测斜管的倾斜数据；The inclinometer assembly is placed in the inclinometer tube, and the tilt data of the inclinometer tube is collected by the movement of the inclinometer assembly in the inclinometer tube;
    控制组件，该控制组件包括：Control components, the control components include:
    升降机构，用于牵引所述测斜仪组件在测斜管内的移动；Lifting mechanism for pulling the movement of the inclinometer assembly in the inclinometer tube;
    主控制器，用于控制所述升降机构的动作，同时控制测斜仪组件的测量过程，获得测斜仪组件的采集的测斜管的倾斜数据，该倾斜数据用于判断所述土体的位移情况。The main controller is used to control the action of the lifting mechanism, and at the same time control the measurement process of the inclinometer assembly, to obtain the inclination data of the inclinometer tube collected by the inclinometer assembly, and the inclination data is used to determine the soil Displacement situation.
  2. 根据权利要求1所述的土***移监测***，其特征在于，主控制器包括，The soil displacement monitoring system according to claim 1, wherein the main controller comprises:
    第一微处理器；First microprocessor
    牵引步进电机，该牵引步进电机电连接第一微处理器，用于驱动升降机构；Traction stepper motor, the traction stepper motor is electrically connected to the first microprocessor for driving the lifting mechanism;
    第一短距通信模块，与第一微处理器电连接，用于主控制器与测斜仪组件之间的数据交互；The first short-range communication module is electrically connected to the first microprocessor, and is used for data interaction between the main controller and the inclinometer component;
    光学限位单元，该光学限位单元连接第一微处理器，通过检测钢缆绳上设置的光阻元件限制被钢缆绳吊装的测斜仪组件的复位位置；An optical limit unit, which is connected to the first microprocessor, and limits the reset position of the inclinometer assembly hoisted by the steel cable by detecting the light resistance element provided on the steel cable;
    无线充电发送单元，与第一微处理器连接，用于对测斜仪组件内的第二电池组进行无线充电；The wireless charging and sending unit is connected to the first microprocessor, and is used for wirelessly charging the second battery pack in the inclinometer assembly;
  3. 根据权利要求2所述的土***移监测***，其特征在于，所述主控制器还包括，The soil displacement monitoring system according to claim 2, wherein the main controller further comprises:
    远程通信模块，该远程通信模块与第一微处理器连接，用于主控制器与远程终端之间的数据传输。The remote communication module is connected to the first microprocessor and used for data transmission between the main controller and the remote terminal.
  4. 根据权利要求2所述的土***移监测***，其特征在于，所述主控制器的电源电路包括，工网适配器，用于接入工业电网；The soil displacement monitoring system according to claim 2, wherein the power circuit of the main controller includes an industrial network adapter for connecting to an industrial power grid;
    太阳能电池板，利用太阳能蓄电；Solar panels, use solar energy to store electricity;
    太阳能充电管理单元，所述工网适配器和太阳能电池板的输出端接入所述太阳能充电管理单元，所述用于对管理工业电网和太阳能电池板的切换控制以及对太阳能充电的管理；A solar charging management unit, the output terminals of the industrial network adapter and the solar panel are connected to the solar charging management unit, and the switching control for the management of the industrial power grid and the solar panel and the management of solar charging are used;
    第一电池组单元，用于对主控制器电路的电池供电；The first battery pack unit is used to supply power to the battery of the main controller circuit;
    第一电池组管理单元，太阳能充电管理单元的输出端和电池组单元的输出端接入所述电池组管理单元，所述第一电池组管理单元用于电池组与外部电源的切换控制以及对电池组充电的管理；The first battery pack management unit, the output end of the solar charge management unit and the output end of the battery pack unit are connected to the battery pack management unit, and the first battery pack management unit is used for switching control between the battery pack and the external power supply, and Management of battery pack charging;
    第一直流电源变换单元，连接所述第一电池组管理单元的输出端，用于将第一电池组管理单元输出的电压转换为多组不同电压的直流电源。The first DC power conversion unit is connected to the output end of the first battery pack management unit, and is used to convert the voltage output by the first battery pack management unit into multiple groups of DC power sources with different voltages.
  5. 根据权利要求2所述的土***移监测***，其特征在于，所述测斜仪组件包括，The soil displacement monitoring system according to claim 2, wherein the inclinometer component comprises:
    第二微处理器；Second microprocessor
    倾角传感器，与第二微处理器连接，用于检测测斜管的倾斜角度；Inclination sensor, connected to the second microprocessor, used to detect the inclination angle of the inclinometer tube;
    第二短距通信模块，与第二微处理器连接，用于向主控器批量传输测斜管倾斜数据；The second short-distance communication module is connected to the second microprocessor, and is used to transmit the inclinometer tube tilt data to the main controller in batches;
    光电位置检测传感器，经过比较器连接第二微处理器，用于对所述倾角传感器的初始零角度的定位；The photoelectric position detection sensor is connected to the second microprocessor via a comparator, and is used for positioning the initial zero angle of the inclination sensor;
    第二步进电机，通过第二步进电机控制器连接到第二微处理器，用于驱动倾角传感器沿着所述测斜管的圆截面转动；A second stepping motor, connected to a second microprocessor through a second stepping motor controller, for driving the tilt sensor to rotate along the circular section of the inclinometer tube;
    温度传感器，与第二微处理器连接，用于检测测斜管内的温度。The temperature sensor, connected with the second microprocessor, is used to detect the temperature in the inclinometer tube.
  6. 根据权利要求5所述的土***移监测***，其特征在于，所述测斜仪组件的电源电路还包括，The soil displacement monitoring system according to claim 5, wherein the power supply circuit of the inclinometer assembly further comprises:
    无线充电接收单元，Wireless charging receiving unit,
    第二电池组，The second battery pack,
    第二充电管理单元，无线充电接收单元获得的电能经所述第二充电管理单元接入第二电池组后，再经过第二直流电源变换单元的电压变换接入包括第二微处理器的所述测斜仪组件电路的电源电路。The second charging management unit. After the electric energy obtained by the wireless charging receiving unit is connected to the second battery pack through the second charging management unit, it is then connected to the electric energy including the second microprocessor through the voltage conversion of the second DC power conversion unit. Describe the power circuit of the inclinometer component circuit.
  7. 根据权利要求6所述的土***移监测***，其特征在于，包括倾角传感器、光电位置检测传感器、无线充电接收单元、第二步进电机以及装载第二微处理器、温度传感器、第二短距通信模块电路板的测斜仪组件被由第一外筒和第二外筒组成的管形壳体封装。The soil displacement monitoring system according to claim 6, characterized in that it comprises an inclination sensor, a photoelectric position detection sensor, a wireless charging receiving unit, a second stepping motor, and a second microprocessor, a temperature sensor, a second short The inclinometer assembly of the circuit board of the communication module is enclosed by a tubular casing composed of a first outer cylinder and a second outer cylinder.
  8. 根据权利要求7所述的土***移监测***，其特征在于，所述倾角传感器被安装在倾角传感器安装板上，倾角传感器安装板上三个角度差为120度的、带有压簧的螺丝，用于将倾角传感器的X、Y轴调整到与重力线垂直，The soil displacement monitoring system according to claim 7, wherein the inclination sensor is installed on the inclination sensor mounting plate, and the inclination sensor mounting plate has three screws with a compression spring with an angle difference of 120 degrees. , Used to adjust the X and Y axis of the inclination sensor to be perpendicular to the gravity line,
    所述倾角传感器安装板上设有小孔，该小孔结合光电位置检测传感器实现倾角传感器在测斜管圆截面上的初始零角度的光学定位标定。The inclination sensor mounting plate is provided with a small hole, which combined with the photoelectric position detection sensor realizes the initial zero-angle optical positioning calibration of the inclination sensor on the circular section of the inclinometer tube.
  9. 根据权利要求8所述的土***移监测***，其特征在于，所述测斜仪组件壳体的2端各设有1对具有扭簧的定位导轮。8. The soil displacement monitoring system according to claim 8, characterized in that a pair of positioning guide wheels with torsion springs are provided on each of the two ends of the housing of the inclinometer assembly.
  10. 根据权利要求2所述的土***移监测***，其特征在于，所述升降机构的工作过程由主控制器控制，所述升降机构包括：The soil displacement monitoring system according to claim 2, wherein the working process of the lifting mechanism is controlled by a main controller, and the lifting mechanism comprises:
    钢缆滚筒组件，用于钢缆绳的绕卷；Steel rope drum assembly, used for winding steel rope;
    主动轮，由步进电机通过步进电机驱动器驱动；The driving wheel is driven by a stepper motor through a stepper motor driver;
    从动轮，经该从动轮的钢缆绳吊挂测斜仪组件；The driven wheel, the inclinometer assembly is suspended by the steel cable of the driven wheel;
    编码器，该编码器安装于编码器支架上，与从动轮共轴的齿轮也对应编码器安装于所述编码器支架上，将从动轮的转速信号传递至编码器。The encoder is installed on the encoder bracket, and the gear coaxial with the driven wheel is also installed on the encoder bracket corresponding to the encoder, and the speed signal of the driven wheel is transmitted to the encoder.
  11. 根据权利要求10所述的土***移监测***，其特征在于，所述升降机构还包括一过渡轮，吊挂测斜仪组件的钢缆绳经从动轮后，经所述过渡轮后再吊挂所述测斜仪组件。The soil displacement monitoring system according to claim 10, wherein the lifting mechanism further comprises a transition wheel, and the steel cable for hanging the inclinometer assembly passes through the driven wheel and then hangs after passing through the transition wheel. The inclinometer assembly.
  12. 根据权利要求11所述的土***移监测***，其特征在于，所述升降机构还包括一个定位架，在该定位架上设有光学限位单元，用于所述钢缆绳的复位检测。The soil displacement monitoring system according to claim 11, wherein the lifting mechanism further comprises a positioning frame, and an optical limit unit is provided on the positioning frame for the reset detection of the steel cable.
  13. 根据权利要求3所述的土***移监测***，其特征在于，所述远程终端通过服务平台异地实现现场测斜数据的分析、图表显示、报表形成、对工程现场个体倾斜监测点设备的电量监视、报警、对现场指定工作模式、原始数据记录功能。The soil displacement monitoring system according to claim 3, wherein the remote terminal realizes the analysis of on-site inclinometer data, chart display, report formation, and power monitoring of individual tilt monitoring point equipment on the project site through the service platform. , Alarm, designated working mode for the scene, raw data recording function.
  14. 根据权利要求13所述的土***移监测***，其特征在于，所述的工作模式包括对现场每个土***移监测点所需要的测量深度、测量时间。The soil displacement monitoring system according to claim 13, wherein the working mode includes measuring depth and measuring time required for each soil displacement monitoring point on site.
  15. 根据权利要求13所述的土***移监测***，其特征在于，所述服务平台采用C/S架构，结合SQL Sever数据库，架构为包括表现层(UI),业务逻辑层(BLL)和数据访问层(DAL) 的三层架构。The soil displacement monitoring system according to claim 13, characterized in that the service platform adopts C/S architecture, combined with SQL Server database, and the architecture includes presentation layer (UI), business logic layer (BLL) and data access Layer (DAL) three-tier architecture.
  16. 根据权利要求13所述的土***移监测***，其特征在于，在监测现场主控制器获取的测斜数据形成报文并传送给硬件设备DTU，DTU通过UDP协议和DDP协议利用GPRS信号将数据包无线传送，报文经过移动网络路由器和互联网路由进行路由选择，直接到达服务平台的服务器；The soil displacement monitoring system according to claim 13, wherein the inclinometer data acquired by the main controller at the monitoring site forms a message and transmits it to the hardware device DTU. The DTU uses the UDP protocol and the DDP protocol to transfer the data using the GPRS signal. The packet is transmitted wirelessly, and the packet is routed through the mobile network router and the Internet route, and directly reaches the server of the service platform;
    服务器对数据进行拆包、分类，保存，并对数据进行分析，计算、存档，实时报警，将分析数据反映给用户；The server unpacks, classifies, saves the data, analyzes the data, calculates, archives, alarms in real time, and reflects the analyzed data to the user;
    通过远程服务器实现对现场信息的监控，远程设定DTU参数，设定现场采样间隔，握手，错误重传。Realize the monitoring of on-site information through a remote server, remotely set DTU parameters, set on-site sampling interval, handshake, and error retransmission.
  17. 根据权利要求13所述的土***移监测***，其特征在于，服务平台对测斜项目的管理包括数据采集、项目信息管理、现场项目配置，The soil displacement monitoring system according to claim 13, wherein the management of the inclinometer project by the service platform includes data collection, project information management, and on-site project configuration.
    即对项目进行日常信息维护，包括基本信息、计算书、地质资料、项目图纸、对现场单体监测点进行包括设定监测频度、设定测量深度、报警值的配置、设置公式、为监测现场设置工程底图、根据现场监测点分布为工程底图添加或删除监测点、设定DTU远程通信等。That is, the daily information maintenance of the project, including basic information, calculation sheets, geological data, project drawings, and the monitoring of the on-site single monitoring points, including setting the monitoring frequency, setting the measurement depth, the configuration of the alarm value, the setting formula, and the monitoring Set up the project base map on site, add or delete monitoring points for the project base map according to the distribution of on-site monitoring points, set DTU remote communication, etc.
  18. 根据权利要求5所述的土***移监测***，其特征在于，所述测斜仪组件的测量过程包括：The soil displacement monitoring system according to claim 5, wherein the measurement process of the inclinometer assembly includes:
    S101，测斜仪组件电路接收到主控制器发出的激活指令后执行光学定位操作，所述的光学定位操作是指将倾角传感器复位到测斜管圆截面上设定的初始零角度；S101, the inclinometer component circuit performs an optical positioning operation after receiving an activation instruction issued by the main controller. The optical positioning operation refers to resetting the inclination sensor to an initial zero angle set on the circular section of the inclinometer tube;
    S102，等待并接收主控制器发送的包括测量深度的信息，并且根据该测量深度计算依据测量间距所需的测量步长数；S102: Wait for and receive the information including the measurement depth sent by the main controller, and calculate the number of measurement steps required according to the measurement interval according to the measurement depth;
    S103，第二步进电机驱动倾角传感器沿着所述测斜管的圆截面旋转90度，采样测斜管圆截面90度时三维MEMS倾角传感器X、Y轴相关垂直重力轴方向的偏移倾角；S103, the second stepping motor drives the inclinometer to rotate 90 degrees along the circular section of the inclinometer tube, and sample the offset inclination angle of the three-dimensional MEMS inclination sensor X and Y axis relative to the vertical gravity axis direction when the circular section of the inclinometer tube is 90 degrees ；
    S104，第二步进电机驱动倾角传感器离开90角度位置旋转到180度，采样测斜管圆截面180度时三维MEMS倾角传感器其X、Y轴相关垂直重力轴方向的偏移倾角；S104, the second stepping motor drives the tilt sensor to rotate to 180 degrees away from the 90-degree position, and when the circular cross-section of the inclinometer tube is 180 degrees, the offset tilt angle of the three-dimensional MEMS tilt sensor in the direction of the vertical gravity axis relative to the X and Y axis is sampled;
    S104，以此类推，第二步进电机依次驱动倾角传感器倾角传感器移动至70度和0角度至位置，采集270度和0角度时三维MEMS倾角传感器其X、Y轴相关垂直重力轴方向的偏移倾角；S104, and so on, the second stepping motor drives the inclination sensor to move to 70 degrees and 0 angle to the position in turn, and collects the deviation of the X and Y axis of the three-dimensional MEMS inclination sensor relative to the vertical gravity axis direction at 270 degrees and 0 angle. Tilt angle
    S105，测斜仪组件接收主控制器发送的时钟同步信息，完成测斜仪组件与主控制器之间的时钟同步；S105, the inclinometer component receives the clock synchronization information sent by the main controller, and completes the clock synchronization between the inclinometer component and the main controller;
    S106，在主控制器的控制下，测斜仪组件在升降机构的钢缆绳牵引下，在测斜管内移动一个步长的距离后停留，在该停留位置的对于倾角传感器数据进行采集；S106, under the control of the main controller, the inclinometer assembly moves a step distance in the inclinometer tube under the traction of the steel cable of the lifting mechanism, and then stays, and collects the data of the inclination sensor at the dwell position;
    S107，重复执行前一步骤，当完成预定的步长数后，测斜仪组件在升降机构的牵引下回到初始位置。S107: Repeat the previous step, and when the predetermined number of steps is completed, the inclinometer assembly returns to the initial position under the traction of the lifting mechanism.
  19. 根据权利要求18所述的土***移监测***，其特征在于，在步骤S106中，启动定时计数器定时计数，根据预定时限换算的计数值，控制倾角传感器的旋转时长、倾角传感器数据采集时长、测斜仪组件一个步长的移动时长、测斜仪的每个停留时长。The soil displacement monitoring system according to claim 18, characterized in that, in step S106, a timing counter is started to count regularly, and the count value converted according to a predetermined time limit is controlled to control the rotation time of the inclination sensor, the data collection time of the inclination sensor, and the measurement The moving time of one step of the inclinometer component, and each dwell time of the inclinometer.
  20. 根据权利要求19所述的土***移监测***，其特征在于，所述的光学定位操作包括：The soil displacement monitoring system according to claim 19, wherein the optical positioning operation comprises:
    将所述倾角传感器安装在倾角传感器安装板上，使得倾角传感器X轴指向倾角传感器安装板上开有的小孔方向；Mounting the inclination sensor on the inclination sensor mounting plate so that the X axis of the inclination sensor points to the direction of the small hole opened on the inclination sensor mounting plate;
    在所述倾角传感器安装板的一侧设置光接收器，在所述倾角传感器安装板的另一侧正对光接收器的位置设置光发送器，A light receiver is arranged on one side of the inclination sensor mounting plate, and an optical transmitter is arranged on the other side of the inclination sensor mounting plate facing the light receiver,
    第二步进电机驱动倾角传感器安装板沿测斜管圆截面旋转至光接收、发送器对时，所述倾角传感器安装板上的小孔正好位于光发送器与光接收器之间，光发送器发送的光线穿过小孔后被光接收器接收到，定义此时倾角传感器X轴指向为相对于测斜管圆截面上的初始零角度，完成所述的光学定位操作。The second stepping motor drives the tilt sensor mounting plate to rotate along the circular section of the inclinometer tube to the light receiving and transmitter pairing. The small hole on the tilt sensor mounting plate is located just between the light transmitter and the light receiver, and the light transmitting The light sent by the sensor passes through the small hole and is received by the light receiver. It is defined that the X-axis of the inclination sensor is pointed at the initial zero angle relative to the circular section of the inclinometer at this time to complete the optical positioning operation.
  21. 根据权利要求19所述的土***移监测***，其特征在于，所述测斜仪在测斜管内移动一个步长距离后采集该位置的温度值。The soil displacement monitoring system according to claim 19, wherein the inclinometer collects the temperature value of the position after moving a step distance in the inclinometer tube.
  22. 根据权利要求18所述的土***移监测***，其特征在于，所述的测斜仪组件将采集获得的数据及时存储，当测斜仪组件完成测量返回初始位置后，通过第二短距通信模块将获得的数据发送至主控制器。The soil displacement monitoring system according to claim 18, wherein the inclinometer component stores the collected data in time, and when the inclinometer component completes the measurement and returns to the initial position, the second short-distance communication The module sends the obtained data to the main controller.
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