CN103453936A - Debris flow disaster early monitoring system based on internet of things - Google Patents
Debris flow disaster early monitoring system based on internet of things Download PDFInfo
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Abstract
The invention discloses a debris flow disaster early monitoring system based on the internet of things. The debris flow disaster early monitoring system comprises an internet of things cloud server and a weather center connected with the cloud server through communication. The cloud server is connected with a wireless sensor network through communication. The wireless senor network comprises network nodes, a soil moisture sensor, a soil inner pressure sensor and a locating device. Data detected by the soil moisture sensor, data detected by the soil inner pressure sensor and data detected by the locating device are respectively transmitted to the cloud server though the network nodes. The wireless sensor network is laid in the zone with the requirements for debris flow disaster monitoring, soil is detected through the soil moisture sensor and the soil inner pressure sensor in the wireless sensor network, movement displacement of soil is detected by the locating device, weather data, collected by the weather center, of the surroundings are combined, calculation and simulation of the cloud processor are conducted, therefore, the purposes that a debris flow disaster is monitored in real time and the accuracy is high are achieved.
Description
Technical field
The present invention relates to the rubble flow detection field, particularly, relate to a kind of rubble flow based on Internet of Things and face the calamity monitoring system.
Background technology
At present, the appearance of Internet of Things, realized the interconnection between the article of hundreds of millions kinds, the whole world, and the physical entity of different industries, different geographical, different application, different field closely is associated together by its internal relation.As brand-new comprehensive information system, Internet of Things is not simple, and it comprises the many aspects such as perception, transmission, processing decision-making, service of information, presents self outstanding feature; Internet of Things is a huge network be comprised of high in the clouds, along with the sensor network large scale deployment, various terminals are just as blue sea, be distributed to collection information on various infrastructure, calculated and processed by diverse network, these information being sent to high in the clouds, through the information calculated and process, finally arrived the supporting that application layer is the different various row in field.
The key core technology of Internet of Things is exactly wireless sensor network (Wireless Sensor Network, WSN) technology, this is 21st century one of the most influential 21 technology, one of the ten large technology that change the world and one of the three large high-tech in whole world future.Coming one after another of these good reputations opened vast potential for future development and application space for wireless sensor network.
The advanced technologies such as data fusion, cloud computing can realize mass data storage and intelligent and high-efficiency decision-making efficiently, with the combination of wireless sensor network technology, the application of current Internet of Things has been obtained to larger expansion, be not limited only to agricultural, medical treatment, be more suitable for traffic, the widespread uses such as environment, will progressively realize real " all things on earth interconnects ".
China is one of the most serious country of mud-stone flow disaster in the world, and Gansu Province is particularly serious, and the especially big mud-stone flow disaster in Zhouqu County, Gansu particularly occurred in 2010 has caused huge casualties and economic loss.For effectively pre-landslide-proofing and rubble flow, departments of government has been taked multinomial measure in succession, constantly perfects the debris flow monitoring pre-warning technology, and has obtained some achievements.
Aspect the rubble flow monitoring, the Domestic Scientific Research personnel have developed some monitoring and warnings for rubble flow, and the monitoring and warning technology of the domestic rubble flow got the Green Light is various as follows at present:
The patent No. is CN200820185015, patent name is found and the traffic monitoring equipment of reporting to the police automatically for the Debris Flow along Highways disaster, disclose for the Debris Flow along Highways disaster and automatically found and the traffic monitoring equipment of reporting to the police, it is characterized in that: traffic monitoring video camera and the industrial control computer of easily sending out the massif zone for monitoring rubble flow interconnect, monitor in real time the massif in territory, area where mud-rock flow is liable to occur, industrial control computer receives continuously, analyze the massif image information, once generation mud-stone flow disaster, industrial control computer sends the red light order to traffic lights, the autos only that stops the highway two way, send alerting signal to highway administration department simultaneously.
This monitor and alarm system possesses picture control and the data receiver of real time environment, comprises picture control module, image analysis module and communication module four module.Wherein picture control can obtain realtime graphic, also can pass monitoring image back control center, and can control according to image information the traffic of highway by controlling traffic lights.But this system only can be carried out the picture control of massif, can't specifically monitor other data of massif, such as soil moisture content, soil displacement etc.Also can't be predicted and then be carried out early warning rubble flow.This system only applicable rubble flow with massif part highway section is monitored the also debris flow monitoring pre-warning of inapplicable surrounding city.
Patent No. CN1996054, the debris flow early-warning predictor that name is called based on omni-directional visual mainly consists of rainfall detection unit, rubble flow generation detecting unit, rainfall intensity recorder calculation unit, the relevant hydrometeorological historical record mnemon of rubble flow, debris flow early-warning forecast unit, statistics early-warning forecasting model, debris flow early-warning forecast information release unit etc.; Input as state according to 10 minutes calculated raininess, one hour raininess, actual effect rainfall, by the judgement of statistics early-warning forecasting model, the probability of rubble flow and seriousness and the urgency level that probability and the mud-stone flow disaster of rubble flow do not occur occur under this status condition; Judged result is distributed in time to the resident in the disaster explosive area in downstream by network and other various means, makes the resident can obtain in time early warning information, thereby can take preventive measures in advance, avoid loss, alleviate the disaster of rubble flow.
Predictor comprises for monitoring the omnibearing vision sensor of massif to be measured and rainfall gathering-device water level, rainfall gathering-device and for carry out the microprocessor of disaster detection according to vision signal, this device can be by rainfall amount monitoring judge probability that whether rubble flow occurs under this condition and seriousness and the urgency level of mud-stone flow disaster according to the debris flow early-warning model, but therefore be only applicable to the medium-term and long-term monitoring of rubble flow because can only monitor rainfall amount, can not be applicable to the Short-Term Monitoring early warning of rubble flow, do not possess prediction accuracy high, the characteristics of early warning real-time.
Publication number CN102542731A, name is called debris flow earth sound monitoring alarm device and discloses a kind of debris flow earth sound monitoring alarm device, comprise and be arranged on monitored scene and for the probe of test site Rock And Soil oscillation intensity, probe comprises housing and is arranged on the curved bracket of enclosure interior, curved bracket one end is fixed on inner walls, the curved bracket other end is fixedly connected with oscillator, be respectively arranged with a plurality of distortion teeth one and a plurality of distortion tooth two on inboard two the relative faces of curved bracket, distortion tooth one is with distortion the corresponding laying that interlocks between tooth two, forming curves shape passage between the head of distortion tooth one and distortion tooth two, the shaped form channel interior is equipped with signal optical fibre, has an end connecting test unit in the two ends of signal optical fibre at least, test cell also joins with processing unit, processing unit also joins with acoustic-optic alarm.
The rubble flow warning device is mainly used to the earthquake sounds that produce in the Monitoring Debris Flow generating process, and this apparatus structure is reasonable in design, cost is low and it is flexible to use, and simultaneous adaptation is strong, the ground acoustical signal of sending in the effectively generation of Monitoring Debris Flow, motion.But the remote transmission and the sending function that do not possess monitor signal, make the application scenario of this equipment be subject to certain restriction.
Publication number: CN102271245A, name is called rubble flow video monitoring 3G network transmitting device and discloses a kind of rubble flow video monitoring 3G network transmitting device.Described device comprises digital video camera and Internet Transmission main frame, wherein: described digital video camera comprises video acquisition module, core processor and network interface card module, described video acquisition module is utilized the camera collection analog video signal and is converted to digital signal, described digital signal is processed in described core processor compression, and by described network interface card module, the compressed signal after processing is outputed to described Internet Transmission main frame; Described Internet Transmission main frame comprises network interface card module, processor module and 3G transport module, described network interface card module receives the compressed video signal that described digital video camera sends, and by the 3G transport module, utilizes 3G network that compressed video signal is sent to strange land and store and check.
In rubble flow video monitoring 3G network transmitting device, digital video camera and transmission main frame cooperatively interact, unattended Real-Time Monitoring work is carried out in the area that can cover at 3G network, by the long-range real time inspection in internet and the on-the-spot image of storage, when occurring, rubble flow can carry out Realtime Alerts.But, in some remote gullys, because the alternating electromotive force supply is limited, can not adopt this device effectively to monitor rubble flow.
Publication number, CN202120410U, name is called hyperchannel rubble flow disconnection monitoring prior-warning device and discloses a kind of hyperchannel rubble flow disconnection monitoring prior-warning device, and described prior-warning device comprises some broken strings, monitoring collection point and monitoring station; Described broken string two ends are fixed in the section two side of rubble flow raceway groove and are formed closed circuit with described monitoring collection point; Described monitoring collection point comprises a GPRS data acquisition module, described data acquisition module and monitoring station wireless connections.
For the ubiquitous heterogeneous body rubble flow of China, derive and obtain rubble flow mud position threshold value by tight theory, science and practicality with height, highly significant, this utility model provides scientific basis for the foundation of flush flood and debris flow disaster classified Monitoring early warning system in the delimitation that the simultaneously calculating of mud position threshold value floods for rubble flow the scope of causing disaster.But this monitoring warning device has expensive shortcoming, at first need to dispose corresponding monitoring equipment and device in rubble flow zone occurred frequently, and need the monitoring equipment of some, the network design cost is higher.
Publication number: CN202903327U, name is called a kind of geosound of debris flow monitoring device and discloses a kind of geosound of debris flow monitoring device.There is the defect of can't implementation space three axle shockproofness values simultaneously monitoring for existing mud-rock flow earth quake sounds, the invention provides the rubble flow detector of earthquake sounds data in a kind of more Obtaining Accurate debris flow process.This geosound of debris flow monitoring device comprises monitoring side, center-side, the control end connected successively; Wherein, monitoring side is the earthquake sounds signal detection apparatus, adopts MEMS tri-number of axle word accelerometer chip as sensing element, and center-side is the signal transmitting apparatus between control end and monitoring side, and control end is that the ground acoustical signal is processed and the steering order operating means.The present invention also provides a kind of rubble flow tap flow rate measuring device that utilizes above-mentioned geosound of debris flow monitoring device to realize.
Can measure in real time the acceleration information of three directions of x, y, z on each sampled point, the ground sound intensity calculated is more accurate, and volume is little, lightweight, anti-interference, energy consumption is low.But the remote transmission and the sending function that do not possess monitor signal, make the application scenario of this equipment be subject to certain restriction.
Publication number: CN201716821U, name is called a kind of debris flow monitoring pre-warning device and discloses a kind of debris flow monitoring pre-warning device, comprises infrared monitoring module, master controller, wireless data transfer module, solar electrical energy generation module, power management module, battery pack module, human-machine interface module and sound alarm module.The generation of described infrared monitoring module monitors rubble flow; Described infrared monitoring module is connected with master controller; Described master controller is connected with wireless data transfer module, human-machine interface module, power management module and sound alarm module respectively; Described wireless data transfer module comprises wireless data transceiving processing module and antenna; Described solar electrical energy generation module is difference system power supply and battery charging after power management module; Shown in battery pack when intensity of illumination is not enough to system power supply.
This debris flow monitoring pre-warning device is highly suitable for the fields such as Geological Hazards Monitoring, early warning, the disaster relief, has the advantages such as simple and reasonable, cheap, easy to operate.But in this invention, the main infrared facility that adopts is monitored rubble flow, because the infrared induction accuracy is lower, to the generation scale of mud-stone flow disaster, with the prediction that involves scope, not therefore very accurate.
In sum, all there are following drawback in existing debris flow monitoring pre-warning device and system: monitoring equipment is single fixing, system lacks unified data management and shares, and can't carry out Mass Data Management, and Monitoring Data accuracy and fiduciary level are not high enough, real-time is poor, and equipment cost is too high.
Summary of the invention
The object of the invention is to, for the problems referred to above, propose a kind of rubble flow based on Internet of Things and face the calamity monitoring system, to realize monitoring and the high advantage of degree of accuracy in real time.
For achieving the above object, the technical solution used in the present invention is:
A kind of rubble flow based on Internet of Things faces the calamity monitoring system, comprise the Internet of Things cloud server, and with the forecast center of cloud server communication connection, described cloud server communication connection wireless sense network, described wireless sense network comprises network node, soil moisture sensor, soil internal pressure sensor and locating device, and the data that described soil moisture sensor, soil internal pressure sensor and locating device detect all transfer to cloud server by network node.
According to a preferred embodiment of the invention, described network node is communicated by letter with cloud server by 3G network.
According to a preferred embodiment of the invention, described soil moisture sensor comprises the first power module, first processor module, first communication module and first sensor module, described first communication module and first sensor module all are electrically connected to the first processor module, and described the first power module provides direct supply for first processor module, first communication module and first sensor module.
According to a preferred embodiment of the invention, described soil moisture sensor is encapsulated in the pure colloid of epoxy resin.
According to a preferred embodiment of the invention, described soil internal pressure sensor comprises second source module, the second processor module, second communication module and the second sensor assembly, described second communication module and the second sensor assembly all are electrically connected to the second processor module, and described second source module provides direct supply for the second processor module, second communication module and the second sensor assembly.
According to a preferred embodiment of the invention, described the second sensor assembly consists of two-layer substrate, the inside surface of this two-layer substrate all covers conductor material, on conductor material, covers pressure-sensitive ink, and the inside surface of described two-layer substrate is bonded together by bonding agent.
According to a preferred embodiment of the invention, described locating device comprises the 3rd power module, the 3rd processor module, third communication module and the 3rd sensor assembly, described third communication module and the 3rd sensor assembly all are electrically connected to the 3rd processor module, described the 3rd power module provides direct supply for the 3rd processor module, third communication module and the 3rd sensor assembly, and described the 3rd sensor assembly is Integrated Accelerometer, direction sensor, geomagnetic sensor and GPS at least.
According to a preferred embodiment of the invention, to carry out the nodal displacement computing method according to the data of locating device as follows for described cloud server:
Step 1: obtain the node accekeration by above-mentioned acceleration transducer, this accekeration is respectively the acceleration value of relative node interface m, n, tri-directions of l
,
,
, set sampling rate to above-mentioned node accekeration
,
,
sampled;
Step 2: utilize above-mentioned direction sensor to obtain the node attitude, obtain three, node interface direction and the ground space coordinate system angle numerical value between x, y, z, be respectively
,
,
, by with above-mentioned, obtain the sampling rate that the node accekeration is identical and sampled, obtain transformation matrix of coordinates as follows:
，
Step 3: projection is calculated: the node acceleration value that above-mentioned employing is obtained projects in the ground space coordinate system and calculates respectively, obtains the accekeration of egress in the ground space coordinate system and is
,
,
,
Step 4: obtain the displacement increment of egress on three directions of x, y, z and be designated as
,
,
,
Step 5: the displacement increment of node is as follows:
Starting velocity in above-mentioned computing formula
,
for the sensor sample time,
for
the sensor translational speed of time point;
Step 6: thus draw the displacement numerical value of long-time section interior nodes, as shown in formula:
In above formula
initial value is 0,
for
displacement constantly.
Technical scheme of the present invention has following beneficial effect:
Technical scheme of the present invention, monitor the area of rubble flow by needs and lay wireless sense network, detection by the soil moisture sensor in wireless sense network, soil internal pressure sensor to soil, and locating device is to the detection of soil moving displacement, and the weather data on every side gathered in conjunction with forecast center, calculating and simulation through the high in the clouds processor, reached mud-stone flow disaster carried out, in real time monitoring and the high purpose of degree of accuracy.
Below by drawings and Examples, technical scheme of the present invention is described in further detail.
The accompanying drawing explanation
Fig. 1 is that the described rubble flow based on Internet of Things of the embodiment of the present invention faces calamity Fundamentals of Supervisory Systems schematic diagram;
The theory diagram that Fig. 2 is the described soil moisture sensor of the embodiment of the present invention;
The theory diagram that Fig. 3 is the described soil internal pressure sensor of the embodiment of the present invention;
The theory diagram that Fig. 4 is the described locating device of the embodiment of the present invention;
Fig. 5 is that schematic diagram is calculated in the described displacement of the embodiment of the present invention;
Fig. 6 is the described perceived accuracy of the embodiment of the present invention and node number contrast figure;
The contrast figure that Fig. 7 is described arrange net cost and node number of the embodiment of the present invention;
The precision contrast figure that Fig. 8 is the described localization method of the embodiment of the present invention.
By reference to the accompanying drawings, in the embodiment of the present invention, Reference numeral is as follows:
The 1-network node; 2-forecast center; The 3-3G base station.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described, should be appreciated that preferred embodiment described herein, only for description and interpretation the present invention, is not intended to limit the present invention.
As shown in Figure 1, a kind of rubble flow based on Internet of Things faces the calamity monitoring system, comprise the Internet of Things cloud server, and with the forecast center of cloud server communication connection, cloud server communication connection wireless sense network, wireless sense network comprises network node, soil moisture sensor, soil internal pressure sensor and locating device, and the data that soil moisture sensor, soil internal pressure sensor and locating device detect all transfer to cloud server by network node.
Wherein, network node is communicated by letter with cloud server by 3G network.
As shown in Figure 2, soil moisture sensor comprises the first power module, first processor module, first communication module and first sensor module, first communication module and first sensor module all are electrically connected to the first processor module, and the first power module provides direct supply for first processor module, first communication module and first sensor module.Soil moisture sensor is encapsulated in the pure colloid of epoxy resin.Easy to carry, install, operate and safeguard simple.Reasonable in design, the Stainless Steel probe guarantees serviceable life.Outside with the pure colloid encapsulation of epoxy resin, good airproof performance, the middle use of can directly placing into the soil, and do not corroded.The soil property impact is less, and the application area extensively.Measuring accuracy is high, dependable performance, every design parameter of soil moisture sensor as shown in Table 1,
Table one, soil moisture sensor design parameter table:
As shown in Figure 3, the soil internal pressure sensor comprises second source module, the second processor module, second communication module and the second sensor assembly, second communication module and the second sensor assembly all are electrically connected to the second processor module, and the second source module provides direct supply for the second processor module, second communication module and the second sensor assembly.The second sensor assembly consists of two-layer substrate, substrate can be comprised of the polyester fiber film (pyrostat use be polyimide) and form, the second sensor assembly consists of two-layer substrate, the inside surface of this two-layer substrate all covers conductor material, cover pressure-sensitive ink on conductor material, then with bonding agent, two-layer substrate is forced together.Pressure transducer is that the force value that will be applied to FSR colorimetric sensor films zone converts the variation of resistance value to, thereby obtains pressure information.Pressure is larger, and resistance is lower.Every design parameter of soil internal pressure sensor as shown in Table 2,
Table two, soil internal pressure sensor parameter list:
As shown in Figure 4, locating device comprises the 3rd power module, the 3rd processor module, third communication module and the 3rd sensor assembly, third communication module and the 3rd sensor assembly all are electrically connected to the 3rd processor module, the 3rd power module provides direct supply for the 3rd processor module, third communication module and the 3rd sensor assembly, and the 3rd sensor assembly is Integrated Accelerometer, direction sensor, geomagnetic sensor and GPS at least.
The calculating of displacement is divided into two parts of calculating of calculating and the angular displacement of displacement of the lines.As shown in Figure 5, the calculating of displacement of the lines and angular displacement mainly is divided into calculating and calibration process.The calculating of displacement mainly completes by integral process.Three axial accekerations that extract are combined the orientation angle value of extracting, and project in the geospace coordinate system, then three axial displacement numerical value that just obtain through quadratic integral, then calculate resultant displacement and just obtain the air line distance in motion process.
3-axis acceleration sensor obtains the numerical value of acceleration on three relative node panel directions, due to the direction of the numerical value of acceleration always along the direction of node attitude, just need to utilize direction sensor to obtain the attitude of node, the rreturn value of direction sensor is three angle values, these three angles are respectively the angle of nodal coordinate system with respect to three directions of ground space coordinate system, these three scales are levied the node attitude, utilize these three amount degree of will speed up values to project to space coordinates, then direction calculating displacement one by one.
Displacement computation process is as follows:
Obtaining accekeration by 3-axis acceleration sensor, is respectively the acceleration value of relative node interface m, n, tri-directions of l
,
,
, when obtaining, setting is obtained, and the higher displacement of sampling rate is calculated more accurate, sampling rate is arranged to 60 microseconds(microseconds for the time being), extract numerical value one time.Adopt direction sensor to obtain the node attitude, obtain the angle numerical value between three directions of node interface x, y, z and ground space coordinate system, be respectively
,
,
, the sampling rate of this sampling rate and acceleration transducer is consistent.Can obtain transformation matrix of coordinates thus as follows:
Projection is calculated: will speed up number of degrees value and project to calculating respectively in the ground space coordinate system, the accekeration in the ground space coordinate system is
,
,
,
Displacement increment calculates: the displacement increment on three directions is designated as
,
,
,
The resultant displacement incremental computations is as follows:
Starting velocity in above-mentioned computing formula
,
for the sensor sample time,
for
the sensor translational speed of time point.
employing is approximately to be set to sampling interval 60 microseconds, and this time interval can be obtained by processor.Displacement adopts accumulate mode to calculate when calculating, and the mode by integration obtains the displacement numerical value in long-time section, as shown in formula:
In above formula
initial value is 0,
for
displacement constantly.
Geomagnetic sensor is gyroscope, has contact between gyroscope and direction sensor, and what in gyroscope, obtain is three axial angular velocity, and the product of angular velocity and time is exactly the angle increment size, utilizes this relation to obtain the node attitude, for projection, calculates.
In technical solution of the present invention, as shown in Table 3, visible technical scheme cost of the present invention is low for the price of each electrical part,
Components and parts price list in table three, wireless sensor network:
Components and parts model table in table 4, wireless sensor network:
The layout wireless sense network is, at first considers the situations such as the regional density of population, economic density, tectonic structure, project construction, when the rainfall amount of sensitizing range changes greatly, disposes wireless sensor network and geologic hazard is easily sent out to zone faced the calamity monitoring.Wireless sensor network mainly comprises the equipment such as soil internal pressure sensor node, soil moisture sensor node, locating device node, M2M gateway, finally the relevant information data collected is sent to data processing centre (DPC), be further analyzed work for the treatment of, for facing the calamity prediction, provide the information foundation.The data that the data that system is collected radio sensor network monitoring are collected in conjunction with weather monitoring are stored in cloud server, and carry out computing, analyze deduction according to the Prediction of debris flow disaster model, simulate Debris-flow Hazards and the condition of a disaster is assessed.By network, the condition of a disaster data, chart and debris flows simulation transmission of video are carried out to forecast of natural calamity to relevant competent authorities unit, make finally combat a natural disaster, take precautions against natural calamities, the decision-making such as mitigation.
Carry out the variation of key parameter of the soil inside of Real-Time Monitoring sensitizing range at the online integrated soil moisture sensor of wireless sensing, soil internal pressure sensor; In the process occurred at rubble flow, network node can move along with the movement of rubble flow, and the rubble flow inner parameter is carried out to real-time follow-up monitoring real-time outwards transmission data.Wherein on locating device, we are integrated devices such as acceleration transducer, direction sensor, geomagnetic sensor and GPS, accurately locate node, and calculate the flow velocity of rubble flow according to the displacement of node; When rubble flow is about to occur and early period of origination, its inner various parameters there will be sharply variation, the isomeric data of magnanimity will be produced, and the means such as the storage of employing cloud, efficient data fusion and high-performance autonomic computing, the data that monitor are efficiently managed, in conjunction with rubble flow generation Early-warning Model, the outburst of rubble flow is reliably calculated to a nicety; According to result, the outburst of rubble flow is carried out to inverting, but arrive data situation in the client direct viewing, the data variation curve map, situation and the zone of simulation debris flow, utilize internet, 3G network etc. to carry out the data networking to units such as relevant weather forecast unit, local government and social public securitys, form a Debris-flow Hazards forecast network.
At wireless sensing, on online monitoring node, integrated soil moisture sensor, soil internal pressure sensor carry out the variation of key parameter of the soil inside of Real-Time Monitoring sensitizing range; In the process occurred at rubble flow, network node can move along with the movement of rubble flow, and the rubble flow inner parameter is carried out to real-time follow-up monitoring real-time outwards transmission data.Wherein on the locating device of monitoring node, we are integrated devices such as acceleration transducer, direction sensor, geomagnetic sensor and GPS, accurately locate node, and calculate the flow velocity of rubble flow according to the displacement of node.
As shown in Figure 6, Figure 7, definition perceived accuracy=monitoring area/node number, the cost of arranging net=node unit price * quantity+gateway cost, when monitoring area is 100m * 100m, the node number is 30 o'clock, perceived accuracy is 333.33
, the total cost of arranging net is 24000 yuan, the unit area cost of arranging net is 2.40 yuan.Compare existing rubble flow monitoring equipment, the sensor node of technical solution of the present invention has characteristic cheaply.
As shown in Figure 8, multisensor is positioned at and is less than 5m scope positioning error and is about 10%, and the multisensor positioning instant adopts the localization method of acceleration sensor, direction sensor and geomagnetic sensor, is applicable to location among a small circle.The GPS positioning precision, between 5-10m, is applicable to location in a big way.Use is combined in orientation, two kinds of location, complements each other, and can comparatively accurately follow the tracks of the rubble flow that flow velocity is less than 10m/s.
Finally it should be noted that: the foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, although with reference to previous embodiment, the present invention is had been described in detail, for a person skilled in the art, its technical scheme that still can put down in writing aforementioned each embodiment is modified, or part technical characterictic wherein is equal to replacement.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.
Claims (8)
1. the rubble flow based on Internet of Things faces the calamity monitoring system, comprise the Internet of Things cloud server, the hereinafter referred cloud server, and with the forecast center of cloud server communication connection, it is characterized in that, described cloud server communication connection wireless sense network, described wireless sense network comprises network node, soil moisture sensor, soil internal pressure sensor and locating device, and the data that described soil moisture sensor, soil internal pressure sensor and locating device detect all transfer to cloud server by network node.
2. the rubble flow based on Internet of Things according to claim 1 faces the calamity monitoring system, it is characterized in that, described network node is communicated by letter with cloud server by 3G network.
3. the rubble flow based on Internet of Things according to claim 1 and 2 faces the calamity monitoring system, it is characterized in that, described soil moisture sensor comprises the first power module, first processor module, first communication module and first sensor module, described first communication module and first sensor module all are electrically connected to the first processor module, and described the first power module provides direct supply for first processor module, first communication module and first sensor module.
4. the rubble flow based on Internet of Things according to claim 3 faces the calamity monitoring system, it is characterized in that, described soil moisture sensor is encapsulated in the pure colloid of epoxy resin.
5. the rubble flow based on Internet of Things according to claim 1 and 2 faces the calamity monitoring system, it is characterized in that, described soil internal pressure sensor comprises second source module, the second processor module, second communication module and the second sensor assembly, described second communication module and the second sensor assembly all are electrically connected to the second processor module, and described second source module provides direct supply for the second processor module, second communication module and the second sensor assembly.
6. the rubble flow based on Internet of Things according to claim 5 faces the calamity monitoring system, it is characterized in that, described the second sensor assembly consists of two-layer substrate, the inside surface of this two-layer substrate all covers conductor material, on conductor material, cover pressure-sensitive ink, the inside surface of described two-layer substrate is bonded together by bonding agent.
7. the rubble flow based on Internet of Things according to claim 1 and 2 faces the calamity monitoring system, it is characterized in that, described locating device comprises the 3rd power module, the 3rd processor module, third communication module and the 3rd sensor assembly, described third communication module and the 3rd sensor assembly all are electrically connected to the 3rd processor module, described the 3rd power module provides direct supply for the 3rd processor module, third communication module and the 3rd sensor assembly, and described the 3rd sensor assembly is Integrated Accelerometer, direction sensor, geomagnetic sensor and GPS at least.
8. the rubble flow based on Internet of Things according to claim 1 and 2 faces the calamity monitoring system, it is characterized in that, it is as follows that described cloud server carries out the nodal displacement computing method according to the data of locating device:
Step 1: obtain the node accekeration by above-mentioned acceleration transducer, this accekeration is respectively the acceleration value of relative node interface m, n, tri-directions of l
,
,
, set sampling rate to above-mentioned node accekeration
,
,
sampled;
Step 2: utilize above-mentioned direction sensor to obtain the node attitude, obtain three, node interface direction and the ground space coordinate system angle numerical value between x, y, z, be respectively
,
,
, by with above-mentioned, obtain the sampling rate that the node accekeration is identical and sampled, obtain transformation matrix of coordinates as follows:
Step 3: projection is calculated: the node acceleration value that above-mentioned employing is obtained projects in the ground space coordinate system and calculates respectively, obtains the accekeration of egress in the ground space coordinate system and is
,
,
,
Step 4: obtain the displacement increment of egress on three directions of x, y, z and be designated as
,
,
,
Step 5: the displacement increment of node is as follows:
Starting velocity in above-mentioned computing formula
,
for the sensor sample time,
for
the sensor translational speed of time point;
Step 6: thus draw the displacement numerical value of long-time section interior nodes, as shown in formula:
In above formula
initial value is 0,
for
displacement constantly.
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| CN104794860A (en) * | 2015-04-24 | 2015-07-22 | 孟祥玉 | Mountain landslide monitoring and warning device based on technology of Internet of things and control method thereof |
| CN105118239A (en) * | 2015-09-15 | 2015-12-02 | 成都汉康信息产业有限公司 | Mountain torrent disaster monitoring and acquisition terminal capable of reliable operation |
| CN105336119A (en) * | 2015-11-27 | 2016-02-17 | 中国地质调查局水文地质环境地质调查中心 | Collapse mass crack identification alarm device and identification method thereof |
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| CN107562903A (en) * | 2017-09-08 | 2018-01-09 | 四川省绵阳太古软件有限公司 | Environmental data sharing method and system based on the service of quoting |
| CN108458682A (en) * | 2018-05-21 | 2018-08-28 | 吴疆 | One kind being used for geological disaster mass presdiction and disaster prevention Crack Monitoring device and method |
| CN109035110A (en) * | 2018-07-18 | 2018-12-18 | 湖北思高科技发展有限公司 | A kind of geological disaster report method based on mobile terminal |
| CN110035403A (en) * | 2019-03-26 | 2019-07-19 | 华思（广州）测控科技有限公司 | A kind of wireless networking single point extensometer monitoring device and method |
| CN110208136A (en) * | 2019-06-01 | 2019-09-06 | 重庆工商大学融智学院 | A kind of building system in Ecological Environmental Data library |
| CN110241773A (en) * | 2018-03-07 | 2019-09-17 | 四川大学 | A kind of ditch bed water level method for early warning causing calamity suitable for different type Storm Flood |
| CN111007538A (en) * | 2019-12-24 | 2020-04-14 | 华北水利水电大学 | Emergency monitoring equipment for global navigation satellite system |
| CN111815909A (en) * | 2020-07-17 | 2020-10-23 | 江苏曌丰智能安防有限公司 | Wireless ad hoc network landslide collapse debris flow monitoring system based on UWB sensing positioning |
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| CN113884653A (en) * | 2021-09-27 | 2022-01-04 | 海南省林业科学研究院(海南省红树林研究院) | Forest fire intelligent monitoring integrated system |
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| CN116718113A (en) * | 2023-06-14 | 2023-09-08 | 中国科学院、水利部成都山地灾害与环境研究所 | Real-time measurement system for three-dimensional morphology of stacking body in debris flow simulation experiment |
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| CN103514711A (en) * | 2013-10-15 | 2014-01-15 | 兰州大学 | Debris flow disaster early warning system based on wireless sensor network |
| CN103914952A (en) * | 2014-04-16 | 2014-07-09 | 华北水利水电大学 | Mountain torrent geological disaster monitoring device based on Internet of Things |
| CN103914952B (en) * | 2014-04-16 | 2017-01-18 | 华北水利水电大学 | Mountain torrent geological disaster monitoring device based on Internet of Things |
| CN104794860B (en) * | 2015-04-24 | 2017-08-25 | 孟祥玉 | Mountain landslide supervision prior-warning device and its control method based on technology of Internet of things |
| CN104794860A (en) * | 2015-04-24 | 2015-07-22 | 孟祥玉 | Mountain landslide monitoring and warning device based on technology of Internet of things and control method thereof |
| CN105118239A (en) * | 2015-09-15 | 2015-12-02 | 成都汉康信息产业有限公司 | Mountain torrent disaster monitoring and acquisition terminal capable of reliable operation |
| CN105336119A (en) * | 2015-11-27 | 2016-02-17 | 中国地质调查局水文地质环境地质调查中心 | Collapse mass crack identification alarm device and identification method thereof |
| CN105678967A (en) * | 2016-04-20 | 2016-06-15 | 国家电网公司 | Debris flow early warning system based on satellite remote sensing image |
| CN105956981A (en) * | 2016-05-06 | 2016-09-21 | 西安工业大学 | Disaster information cloud computing system and disaster information cloud computing method |
| CN106530348A (en) * | 2016-11-02 | 2017-03-22 | 成都通甲优博科技有限责任公司 | Visual monitoring method for mud-rock flow |
| CN106706107A (en) * | 2017-03-30 | 2017-05-24 | 中国环境监测总站 | Deep vibration testing signal collector and deep vibration testing device |
| CN107170203A (en) * | 2017-07-14 | 2017-09-15 | 成都众山科技有限公司 | A kind of method for monitoring mountain flood |
| CN107562903A (en) * | 2017-09-08 | 2018-01-09 | 四川省绵阳太古软件有限公司 | Environmental data sharing method and system based on the service of quoting |
| CN110241773A (en) * | 2018-03-07 | 2019-09-17 | 四川大学 | A kind of ditch bed water level method for early warning causing calamity suitable for different type Storm Flood |
| CN108458682A (en) * | 2018-05-21 | 2018-08-28 | 吴疆 | One kind being used for geological disaster mass presdiction and disaster prevention Crack Monitoring device and method |
| CN109035110A (en) * | 2018-07-18 | 2018-12-18 | 湖北思高科技发展有限公司 | A kind of geological disaster report method based on mobile terminal |
| CN110035403A (en) * | 2019-03-26 | 2019-07-19 | 华思（广州）测控科技有限公司 | A kind of wireless networking single point extensometer monitoring device and method |
| CN110208136A (en) * | 2019-06-01 | 2019-09-06 | 重庆工商大学融智学院 | A kind of building system in Ecological Environmental Data library |
| CN110208136B (en) * | 2019-06-01 | 2022-03-29 | 重庆工商大学融智学院 | Construction system of ecological environment database |
| CN111007538A (en) * | 2019-12-24 | 2020-04-14 | 华北水利水电大学 | Emergency monitoring equipment for global navigation satellite system |
| CN111007538B (en) * | 2019-12-24 | 2023-06-09 | 华北水利水电大学 | Emergency monitoring equipment for global navigation satellite system |
| CN111815909A (en) * | 2020-07-17 | 2020-10-23 | 江苏曌丰智能安防有限公司 | Wireless ad hoc network landslide collapse debris flow monitoring system based on UWB sensing positioning |
| CN112750280A (en) * | 2020-12-21 | 2021-05-04 | 武汉达梦数据技术有限公司 | Combined type geological disaster professional monitoring and early warning method and device |
| CN112750280B (en) * | 2020-12-21 | 2022-03-25 | 武汉达梦数据技术有限公司 | Combined type geological disaster professional monitoring and early warning method and device |
| CN113034859A (en) * | 2021-03-31 | 2021-06-25 | 武汉理工大学 | Road traffic geological disaster early warning method, device and storage medium |
| CN113254560A (en) * | 2021-06-08 | 2021-08-13 | 东营市大地勘测地理信息研究院有限公司 | Tidal disaster prediction system and method for oil field beach sea |
| CN113884653B (en) * | 2021-09-27 | 2022-11-29 | 海南省林业科学研究院(海南省红树林研究院) | Forest fire intelligent monitoring integrated system |
| CN113884653A (en) * | 2021-09-27 | 2022-01-04 | 海南省林业科学研究院(海南省红树林研究院) | Forest fire intelligent monitoring integrated system |
| CN113611085A (en) * | 2021-10-11 | 2021-11-05 | 辽博信息科技(山东)有限公司 | Monitoring and early warning method and system for geological disasters in geotechnical engineering |
| CN114673559A (en) * | 2022-05-27 | 2022-06-28 | 太原理工大学 | Real-time accurate monitoring method and system for mine permeable catastrophe information |
| CN115471980A (en) * | 2022-08-16 | 2022-12-13 | 智洋创新科技股份有限公司 | Debris flow disaster early warning method |
| CN115471980B (en) * | 2022-08-16 | 2024-03-22 | 智洋创新科技股份有限公司 | Mud-rock flow disaster early warning method |
| CN116718113A (en) * | 2023-06-14 | 2023-09-08 | 中国科学院、水利部成都山地灾害与环境研究所 | Real-time measurement system for three-dimensional morphology of stacking body in debris flow simulation experiment |
| CN117470317A (en) * | 2023-11-27 | 2024-01-30 | 中国地质大学（武汉） | Multi-parameter integrated dynamic monitoring system and method for debris flow |
| CN117470317B (en) * | 2023-11-27 | 2024-05-31 | 中国地质大学（武汉） | Multi-parameter integrated dynamic monitoring system and method for debris flow |
| CN118314698A (en) * | 2024-06-11 | 2024-07-09 | 四川凉山水洛河电力开发有限公司 | Slope collapse early warning method |
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