CN109743707A - Tilt angle monitoring device and system - Google Patents
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
This application involves a kind of tilt angle monitoring device and systems, comprising: acceleration transducer, for generating acceleration information when run-off the straight is displaced；Processing unit for waking up when receiving the acceleration information from low power consumpting state, and calculates tilt angle according to the acceleration information；The tilt angle for entering emission state from battery saving mode when receiving the tilt angle, and is uploaded to cloud server by data transmission unit.The tilt angle monitoring device can be monitored the facilities such as external lamp stand, the line bar for being kept fixed state for a long time, be detected using acceleration transducer, it can be ensured that the accuracy of testing result is higher；Processing unit and data transmission unit most of the time are in the dormant state of low-power consumption, only can just be triggered after acceleration transducer generation movement, thus low in energy consumption, at low cost, while can also ensure that and in time upload status information.
Description
Technical field
This application involves internet of things sensors technical fields, and in particular to a kind of tilt angle monitoring device.
Background technique
With further speeding up for urbanization process, public utility development is rapid.Municipal administration, electric power, communication etc.
Department has a large amount of municipal equipment, assets to need to manage.Wherein various line bars become very important one.Largely in outer line bar
Due to the effective Real-time Monitor Management means of shortage, there is the case where a large amount of line bar lodging causes personnel's property loss,
A large amount of damage line bar cannot also be repaired because being unable to learn in time in time simultaneously, not only affect relevant device just in this way
Often work causes huge direct or indirect economic loss, and the line bar or inclined line bar of work are continued to after lodging
It is undecided, all cause very big negative effect safely to harmonious society.
Inclination monitoring terminal be for monitoring the frastructure states such as light pole, electric pole, external advertising board, base station towers,
When the facility of monitoring occurs toppling over situation, lodging information can be informed manager by inclination monitoring terminal.Existing inclination monitoring
Terminal is all generally to be uploaded to information using communication modes such as 3G/GPRS as inclined sensor is detected using gyroscope
Base station is issued to manager's mobile phone or computer end again.
In the related technology, for gyroscope (angular rate sensor) based on mechanical system component, volume is big, heavy, intolerant to punching
It hits, and itself can not generate electric signal, gyroscope angular velocity is principle of inertia, is compared accurately and long-time in a short time
Then error can be generated because of drift, gyroscope is suitable for the attitudes vibration of short time, current intelligence.In communication modes side
Face, presently, there are inclination monitoring terminal communicated mostly with GPRS/3G/CDMA etc., the mould group function that such communication modes are relied on
Consumption is high, and the requirement to battery is larger, and 3G mould group is at high cost, expensive, and the service fee of subsequent produced operator
It is high.
Three axis accelerometer can survey roll, pitching, its main feature is that compact, precision is high, can direct output signal.
And accelerometer is measurement linear acceleration, and principle is to utilize force balance principle, survey of the accelerometer in the long period
Magnitude is correct, and within a short period of time due to the presence of signal noise, error can be generated.
Summary of the invention
To be overcome the problems, such as present in the relevant technologies at least to a certain extent, the application provides a kind of tilt angle monitoring
Device and system.
According to the embodiment of the present application in a first aspect, providing a kind of tilt angle monitoring device, comprising:
Acceleration transducer, for generating acceleration information when run-off the straight is displaced；
Processing unit, for being waken up when receiving the acceleration information from low power consumpting state, and according to the acceleration
Degree evidence calculates tilt angle；
Data transmission unit, for entering emission state from battery saving mode when receiving the tilt angle, and by institute
It states tilt angle and uploads to cloud server.
Further, the acceleration transducer is 3-axis acceleration sensor.
Further, the 3-axis acceleration sensor is composed using three-axis gyroscope and three axis accelerometer.
Further, a sensing direction of the 3-axis acceleration sensor is vertically arranged with gravity direction, a biography
Sense direction is arranged in parallel with gravity direction.
Further, the data transmission unit is Internet of Things communication module.
Further, the Internet of Things communication module is NB-IoT mould group；
When not receiving the data that the processing unit is sent, the NB-IoT mould group is in battery saving mode.
Further, the processing unit is also used to:
Tilt angle will be calculated to be compared with preset alarm threshold value；
If the tilt angle is greater than alarm threshold value, the tilt angle is sent to the data transmission unit.
Further, the data transmission unit is also used to:
Obtain location information；
The location information is uploaded into cloud server together with the tilt angle.
According to the second aspect of the embodiment of the present application, a kind of tilt angle monitoring system is provided, comprising:
Any one tilt angle monitoring device as described above；
Cloud server, the tilt angle uploaded for receiving the data transmission unit, and according to preset alarm side
Formula alert.
Further, the cloud server is also used to:
The location information that the data transmission unit uploads is received, and aobvious according to corresponding position of the location information on map
Show abnormal icon.
The technical solution that embodiments herein provides can include the following benefits:
The tilt angle monitoring device can supervise the facilities such as external lamp stand, the line bar for being kept fixed state for a long time
It surveys, is detected using acceleration transducer, it can be ensured that the accuracy of testing result is higher；Processing unit and data transmission are single
First most of the time is in the dormant state of low-power consumption, only can just be triggered after acceleration transducer generation movement, thus
It is low in energy consumption, at low cost, while can also ensure that and in time upload status information.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The application can be limited.
Detailed description of the invention
The drawings herein are incorporated into the specification and forms part of this specification, and shows the implementation for meeting the application
Example, and together with specification it is used to explain the principle of the application.
Fig. 1 is a kind of circuit block diagram of tilt angle monitoring device shown according to an exemplary embodiment.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all embodiments consistent with the application.On the contrary, they be only with it is such as appended
The example of the consistent device and system of some aspects be described in detail in claims, the application.
Fig. 1 is a kind of tilt angle monitoring device shown according to an exemplary embodiment, comprising:
Acceleration transducer, for generating acceleration information when run-off the straight is displaced；
Processing unit, for being waken up when receiving the acceleration information from low power consumpting state, and according to the acceleration
Degree evidence calculates tilt angle；
Data transmission unit, for entering emission state from battery saving mode when receiving the tilt angle, and by institute
It states tilt angle and uploads to cloud server.
The tilt angle monitoring device can supervise the facilities such as external lamp stand, the line bar for being kept fixed state for a long time
It surveys, is detected using acceleration transducer, it can be ensured that the accuracy of testing result is higher；Processing unit and data transmission are single
First most of the time is in the dormant state of low-power consumption, only can just be triggered after acceleration transducer generation movement, thus
It is low in energy consumption, at low cost, while can also ensure that and in time upload status information.
In some embodiments, the acceleration transducer is 3-axis acceleration sensor.
In some embodiments, the 3-axis acceleration sensor using three-axis gyroscope and three axis accelerometer combination and
At.
In some embodiments, a sensing direction of the 3-axis acceleration sensor is vertically arranged with gravity direction, and one
A sensing direction is arranged in parallel with gravity direction.
The manufacturer of production obliquity sensor is less at present, but for product, single-shaft inclination angle sensor is in the majority, and resolution ratio
It is higher.For home products, sensor is less with circuit integration, and most of is only to provide analog output.With regard to sensor
Development for, in terms of data collection, the product of Beijing Information Technology Institute is in the indexs side such as miniaturization and Product Precision
Face is leading, if mould electricity is obliquity sensor.Network inquiry feedback is seen that product is concentrated mainly on American-European Ji Jia major company,
The domestic commonly used wider VTI company just like Finland, German Siemens Company, the CLino company of Britain, the U.S.
CrossBow Technology company etc..For domestic and international product kind, negligible amounts, but from digitlization, miniaturization, essence
For the indexs such as degree, weight, use temperature range and the linearity, practical value with higher.Such as LS series of products resolution ratio
Up to 1.8, Britain's Clino company SP series of products height only has 22mm, special reachable 16mm to can be used for some particular fields
It closes.CrossBow company CXTA, United States digital company A2 product belong to digital product, can by interface board directly with calculating
Machine is connected.Simultaneously as can be seen that acceleration transducer is since its dynamic property is good during access, precision is high, therefore
It is also widely used in the measurement of inclination angle.
Considered by the environment and application scope monitored to inclination angle, selects VTI SCA3000 3-axis acceleration sensor.
VTI 3-axis acceleration sensor is three number of axle word acceleration sensing of high-precision of the 3D-MEMS capacitive sensor technology based on VTI
Device.SCA3000 is made of three high-precision micro machine acceleration sensing elements and a flexible SPI digital interface.Sensor
Double pin package guarantee the work safe and reliable in SCA3000 whole life cycle.
VTISCA3000 3-axis acceleration sensor is all with high stability, height in entire design, production and test phase
Reliability, high quality require, its target market is automobile application.This 3-axis acceleration sensor has in working range
There is the output (including under full warm area, humidity and mechanical noise environment) that crisis is stable.
It clearly explains this patent, the principle at acceleration transducer measurement inclination angle is illustrated.
For an axle acceleration sensor, when its sensing direction is consistent with acceleration of gravity direction, if this
When be zero tilt angle, if acceleration transducer measurement result be F (θ), θ is tilt angle, and g is acceleration of gravity.
F (θ)=g cos θ (1)
F (θ) derivation is obtained:
So the resolution ratio of measurement will be too small, and when angle is sufficiently large, precision can just rise when tiltangleθ is too small.
So the utilization to an axis slant angle sensor is: the state of its sensing direction when vertical with acceleration of gravity direction is set as
Zero tilt angle.Principle with the method measurement inclination angle is:
F (θ)=gsin θ (4)
As θ → 0:
Tilt angle hour measurement accuracy is high at this time, and for an axle acceleration sensor, a direction can only be surveyed
Inclination angle.So two sensing directions are all perpendicular to acceleration of gravity, when two axis tilt with two axle acceleration sensors
When overturning angle, acceleration transducer measurement result are as follows:
F(θx)=g sin θx (6)
F(θy)=g sin θy (7)
How θ is utilizedxAnd θyFind out tiltangleθ.Define two group of three axial vector first: [x, y, z] be with reference to 0 tilt vector,
[u, v, r] is the vector after inclination.If vector [z, y, z] is first around y-axis cant angle thetax', further around x-axis cant angle thetay', so from [x, y, z]
To the conversion of [u, v, r] are as follows:
It is calculated:
If x, y is horizontal direction, z is vertical direction.(x, y, z)=(0,0,1) then just has:
V=sin θv′cosθx′(11)
R=cos θx′cosθv′(12)
U=kF (θ at this timex)=kg sin θx, v=kF (θy)=kg sin θy, so:
θx=θx′ (13)
sinθv=sin θv′cosθx′ (14)
And sensor actual tilt angles are as follows:
As long as so obtaining two axle acceleration sensor measurement result F (θx) and F (θy) θ can be calculatedxAnd θy, into
And know total gradient.
Same axle sensor, two axle sensor measurement accuracy are limited, work as θxOr θyWhen closer ± pi/2, resolution ratio is lower.
The only resolution ratio highest when tilt angle is close to 0.It may be implemented entirely using this measurement method of two axle acceleration sensors
Azimuthal tilt measurement.
To realize that high-precision full swing inclination measurement must just be disposed vertically two axle acceleration sensors, a sensing side
To vertical with gravity direction, a sensing direction is parallel with gravity direction.Inclination angle is measured with the method.Acceleration transducer
Measurement result are as follows:
F(θx)=g cos θx (16)
F(θy)=g sin θy (17)
θ is full swing, high-precision tilt angle in one direction at this time.It can not solve to tilt with two axle acceleration sensors
The contradiction that comprehensive and full swing cannot be realized jointly in angular measurement.So for one comprehensive, full swing inclination angle of measurement
Three axis accelerometer must just be used.
Measurement range must be just divided into two grades with three axis accelerometer measurement inclination angle, one grade is that inclination angle is-π/4
~π/4, two grades are that inclination angle is (- pi/2~-π/4) & (π/4~pi/2).When tilt angle is between-π/4~π/4,It is on the contraryHere with F (θz) value as divide class foundation.
F (the θ in one gradex), F (θy) resolution ratio it is very high, be equivalent at this time it is comprehensive with the measurement of two axle acceleration sensor,
Low amplitude of oscillation inclination angle can calculate inclination angle with formula (15).F (the θ in two gradesz) resolution ratio it is all very high, be equivalent at this time
Comprehensive, the inclination angle of high tilt angle is measured with an axle acceleration sensor, inclination can be calculated with formula (1)
Angle.
In some embodiments, the data transmission unit is Internet of Things communication module.
In some embodiments, the Internet of Things communication module is NB-IoT mould group；
When not receiving the data that the processing unit is sent, the NB-IoT mould group is in battery saving mode.
In some embodiments, the processing unit is also used to:
Tilt angle will be calculated to be compared with preset alarm threshold value；
If the tilt angle is greater than alarm threshold value, the tilt angle is sent to the data transmission unit.
In some embodiments, the data transmission unit is also used to:
Obtain location information；
The location information is uploaded into cloud server together with the tilt angle.
The invention mainly relates to device for monitoring inclination, for monitoring the state of the facilities such as outdoor base station tower, lamp stand, line bar；
Using highly sensitive three-axis acceleration transducer chip, when tilting or lodge occur in lamp stand or electric pole, can generate centainly
Tilt angle (be greater than 15 degree)；3-axis acceleration sensor triggers processing unit (can use CPU), makes processing unit from low
Power consumption state is waken up, and enters transmitting from PSM (Power Saving Mode, battery saving mode) state by triggering NB-IoT mould group
The data such as the status information of lamp stand and location information are uploaded to data management platform by state, realize lamp stand location management and
Status monitoring.
PSM, that is, low-power consumption mode, principle be allow NB-IoT mould group Idle state for a period of time after, the receipts of shutdown signal
Hair and AS (access layer) correlation function, are equivalent to partial shutdown, so that the power consumption consumption of antenna, radio frequency, signaling processing etc. is reduced,
It can significantly power saving.
NB-IoT mould group does not receive any network paging under PSM state, for network side, NB-IoT mould group this
When be inaccessible.But terminal is still registered in a network, therefore when sending data, does not need to reconnect or establish PDN
Connection.
NB mould group has the advantages that low-power consumption, low for the kwh loss of battery, sets convenient for inclination monitoring in lamp stand, line bar
It is standby to use, it does not need frequently to replace battery, and NB card service fee wants much lower compared to the service charge of 2G/3G.Wide covering,
Low cost is also the one of the major reasons of selection NB mould group.
Angle information can be transparent to processing unit after detecting tilt angle by 3-axis acceleration sensor, single by processing
After the calculation process of member, judge whether tilt angle reaches alarm threshold value.For example, it is 10 ° that tilt angle, which is arranged, by program
Alarming value, after sensor detects that inclination monitoring device tilts 10 °, MCU is sent out warning message with the communications protocol of NB-IoT
It is sent to the base station NB, then is forwarded to the onenet platform of China Mobile by base station.
When mould group accesses onenet platform, the product type of corresponding hardware is first established in onenet platform, briefly
It is exactly that hardware product is abstract on platform.Process is also very simple, can refer to the document of official's offer.It establishes after completing,
Product is in off-line state on platform at this time, indicates that hardware mould group can't be communicated with platform, is in an off state.It connects down
To complete the work that mould group is connect with platform.After successful connection, the equipment on onenet platform, which can be shown, to be online, firmly
Part and platform successful connection.Data can be sent to platform by AT+MIPLNOTIFY, specifically can refer to official manual.
According to the second aspect of the embodiment of the present application, a kind of tilt angle monitoring system is provided, comprising:
Any one tilt angle monitoring device as described above；
Cloud server, the tilt angle uploaded for receiving the data transmission unit, and according to preset alarm side
Formula alert.
In some embodiments, the cloud server is also used to:
The location information that the data transmission unit uploads is received, and aobvious according to corresponding position of the location information on map
Show abnormal icon.
Cloud service platform can realize the operating status of 24 hours on-line monitoring hardware products, and based on map on line, can
Accurate display device status information.Geographical location icon of alarming accordingly when monitored equipment tilts, on map can become
It is red, and exception or warning message are prompted, webpage issues alarm sound, and relevant persons in charge can click the tool that icon grasps fire alarm immediately
Body position, in time expansion investigation, confirmation, the work repaired.
It is understood that same or similar part can mutually refer in the various embodiments described above, in some embodiments
Unspecified content may refer to the same or similar content in other embodiments.
It should be noted that term " first ", " second " etc. are used for description purposes only in the description of the present application, without
It can be interpreted as indication or suggestion relative importance.In addition, in the description of the present application, unless otherwise indicated, the meaning of " multiple "
Refer at least two.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the application includes other realization, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, Lai Zhihang function, this should be by the application
Embodiment person of ordinary skill in the field understood.
It should be appreciated that each section of the application can be realized with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware is realized.It, and in another embodiment, can be under well known in the art for example, if realized with hardware
Any one of column technology or their combination are realized: having a logic gates for realizing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that realize all or part of step that above-described embodiment method carries
It suddenly is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer-readable storage medium
In matter, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, can integrate in a processing module in each functional unit in each embodiment of the application
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware realization, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized and when sold or used as an independent product in the form of software function module, also can store in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the application.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiment or examples in can be combined in any suitable manner.
Although embodiments herein has been shown and described above, it is to be understood that above-described embodiment is example
Property, it should not be understood as the limitation to the application, those skilled in the art within the scope of application can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (10)
1. a kind of tilt angle monitoring device characterized by comprising
Acceleration transducer, for generating acceleration information when run-off the straight is displaced；
Processing unit, for being waken up when receiving the acceleration information from low power consumpting state, and according to the acceleration degree
According to calculating tilt angle；
Data transmission unit for entering emission state from battery saving mode when receiving the tilt angle, and inclines described
Rake angle uploads to cloud server.
2. the apparatus according to claim 1, it is characterised in that: the acceleration transducer is 3-axis acceleration sensor.
3. the apparatus of claim 2, it is characterised in that: the 3-axis acceleration sensor using three-axis gyroscope and
Three axis accelerometer is composed.
4. device according to claim 3, it is characterised in that: a sensing direction of the 3-axis acceleration sensor with
Gravity direction is vertically arranged, and a sensing direction is arranged in parallel with gravity direction.
5. device according to claim 1-4, it is characterised in that: the data transmission unit is Internet of Things Network Communication
Module.
6. device according to claim 5, it is characterised in that: the Internet of Things communication module is NB-IoT mould group；
When not receiving the data that the processing unit is sent, the NB-IoT mould group is in battery saving mode.
7. device according to claim 6, which is characterized in that the processing unit is also used to:
Tilt angle will be calculated to be compared with preset alarm threshold value；
If the tilt angle is greater than alarm threshold value, the tilt angle is sent to the data transmission unit.
8. device according to claim 7, which is characterized in that the data transmission unit is also used to:
Obtain location information；
The location information is uploaded into cloud server together with the tilt angle.
9. a kind of includes the monitoring system such as any one of claim 1-8 described device, which is characterized in that further include:
Cloud server, the tilt angle uploaded for receiving the data transmission unit, and sent out according to preset type of alarm
Warning message out.
10. system according to claim 9, which is characterized in that the cloud server is also used to:
The location information that the data transmission unit uploads is received, and is shown according to corresponding position of the location information on map different
Normal icon.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110160497A (en) * | 2019-06-20 | 2019-08-23 | 惠州市博实结科技有限公司 | Iron tower incline measurement method, device, computer equipment and storage medium |
| CN111307115A (en) * | 2020-03-03 | 2020-06-19 | 平顶山天安煤业股份有限公司 | High-precision tilt angle measuring method |
| CN112229361A (en) * | 2020-10-12 | 2021-01-15 | 法施达(大连)实业集团有限公司 | Pillar inclination monitoring equipment and intelligent pillar |
| CN113813471A (en) * | 2021-10-18 | 2021-12-21 | 江苏猫度云科医疗科技有限公司 | Method for detecting inclination and falling state of infusion monitor based on six-axis sensor |
| CN115358634A (en) * | 2022-10-13 | 2022-11-18 | 国网浙江宁波市鄞州区供电有限公司 | Real-time monitoring method, server and system based on power line pole state |
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