CN112146614B - Bee colony type slope monitoring system based on earth surface inclination angle sensor - Google Patents
Bee colony type slope monitoring system based on earth surface inclination angle sensor Download PDFInfo
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- 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
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
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- H—ELECTRICITY
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Abstract
The invention provides a bee colony type slope monitoring system based on a surface inclination angle sensor, which comprises: the monitoring node devices are distributed on the surface of the side slope at intervals; the monitoring node equipment comprises a micro-electro-mechanical system tilt angle sensor and a battery; the micro electro mechanical system inclination angle sensor is used for monitoring the inclination change of the side slope and also used for realizing sensor positioning by utilizing the signal time delay in the communication process to monitor the displacement change of the side slope; the data transmission equipment is arranged at the periphery of the side slope and used for transmitting the monitoring data of the monitoring node equipment to the remote platform, and the monitoring data comprises the inclination change and the displacement change of the side slope; and the remote platform is used for analyzing the slope deformation condition according to the monitoring data. The invention can solve the technical problems that the deformation condition of the surface of the side slope needs to be monitored by simultaneously using a surface inclination angle sensor and a displacement meter, and a monitoring system is more complex.
Description
Technical Field
The invention relates to the technical field of slope monitoring, in particular to a bee colony type slope monitoring system based on a surface inclination angle sensor.
Background
The side slope landslide brings huge potential safety hazard to people's life, causes serious economic loss for national infrastructure construction. Many scholars have studied on the monitoring work of the dangerous rock on the side slope in many ways, and the main monitoring method is a manual observation method because of the limitation of technology and hardware facilities at first, and the relation between the displacement change of an observation point and the time is directly measured from a manual mode to the site by arranging a specific observation point and an observation scale at the position to be monitored. The method is simple to operate and strong in intuition, is greatly influenced by external environmental factors, is low in precision, and can only qualitatively describe the surface macroscopic change of the slope dangerous rock.
With the development of technologies at any time, in recent years, unattended automatic monitoring systems develop rapidly and are applied more and more. The earth surface inclination angle sensor is one of a plurality of maturity monitoring sensors, has precise inclination angle change measuring capability, and has an internal core formed by an MEMS (micro electro mechanical system) inclination angle sensor chip, so that the inclination change condition of the side slope can be monitored. However, the surface inclination sensor can only acquire the three-axis inclination change condition of the position of the sensor, if the position of the sensor is located, the slope and the horizontal ground are not inclined, but the displacement change of the whole section of the slope occurs, for example, when the slope is extruded or stretched, the surface inclination sensor cannot monitor the deformation of the slope. If the whole displacement of side slope needs to be monitored, the scheme adopted at present generally uses a displacement meter for monitoring, so that a monitoring system needs to add new equipment, and the complexity of the system is increased.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a swarm type slope monitoring system based on a surface inclination angle sensor, which aims to solve the technical problem that the monitoring system is complex because the surface inclination angle sensor and a displacement meter are required to be used simultaneously when the deformation condition of the slope surface is monitored in the prior art.
The technical scheme adopted by the invention is that a swarm type slope monitoring system based on a ground surface inclination angle sensor;
in a first implementation, the method includes:
the monitoring node devices are distributed on the surface of the side slope at intervals; the monitoring node equipment comprises a micro-electro-mechanical system tilt angle sensor and a battery; the micro electro mechanical system inclination angle sensor is used for monitoring the inclination change of the side slope and also used for realizing sensor positioning by utilizing the signal time delay in the communication process to monitor the displacement change of the side slope;
the data transmission equipment is arranged at the periphery of the side slope and used for transmitting the monitoring data of the monitoring node equipment to the remote platform, and the monitoring data comprises the inclination change and the displacement change of the side slope; and
and the remote platform is used for analyzing the slope deformation condition according to the monitoring data.
In combination with the first implementable manner, in a second implementable manner, the plurality of monitoring node devices are arranged on the surface of the side slope in a gridding manner.
With reference to the first implementable manner, in a third implementable manner, the monitoring node device includes an upper end and a lower end, the upper end being a round bar shaped engineering plastic, the lower end being a tapered metal; the inclination angle sensor of the micro electro mechanical system is arranged in the upper end.
With reference to the first implementable manner, in a fourth implementable manner, the battery is a polymer lithium battery.
With reference to the first implementable manner, in a fifth implementable manner, the mems tilt sensor includes a sensor chip, a microcontroller, and a wireless communication module; the wireless communication module ad hoc network forms a swarm network.
With reference to the fifth implementable manner, in a sixth implementable manner, the wireless communication module includes Zigbee and lora.
With reference to the first implementable manner, in a seventh implementable manner, the displacement change of the slope is monitored by positioning the sensor by using the signal delay in the communication process, specifically as follows:
each monitoring node device is used as a base station and a label, and the positioning of each monitoring node device is obtained by utilizing the signal delay in the communication process;
calculating the space coordinates of each monitoring node device by a microcontroller according to a positioning spherical intersection algorithm;
transmitting the space coordinate change data of each monitoring node device to a remote platform through data transmission equipment;
and (4) calculating the relative position change trend among the monitoring node devices by the remote platform to obtain the condition of slope displacement change.
With reference to the seventh implementable manner, in an eighth implementable manner, when the spherical intersection algorithm is used for calculation, the data is preprocessed by using a kalman filter algorithm.
With reference to the seventh implementable manner, in a ninth implementable manner, when the calculation is performed by using the sphere intersection algorithm, the space line segment and the sphere are solved by fitting with a least square method.
With reference to the seventh implementable manner, in a tenth implementable manner, the obtaining the location of each monitoring node device by using the signal delay in the communication process further includes:
all monitoring node equipment is used as a base station for communication, and primary positioning is completed;
in the subsequent monitoring process, the base stations corresponding to each label are reduced, the labels are enabled to adaptively search the base stations within a certain distance range for communication, and the relocation is completed.
With reference to the first implementable manner, in an eleventh implementable manner, the data transmission device includes a 4G/5G communication module and a beidou satellite communication module.
According to the technical scheme, the beneficial technical effects of the invention are as follows:
1. by using the traditional MEMS tilt sensor, under the condition of not increasing hardware cost, the positioning of the sensor is realized by utilizing the signal delay of the communication process, so that the MEMS tilt sensor has the capability of providing the monitoring slope displacement data, and the multi-dimensional monitoring effect is provided.
2. A plurality of monitoring node devices are arranged on a side slope in a gridding mode, a swarm type network is formed by an ad hoc network, and the distance sensing capability among a plurality of MEMS tilt sensors is built. Only one type of MEMS tilt sensor is used, and data collection can be simultaneously carried out on slope displacement change and slope change conditions and transmitted to a remote platform. The remote platform combines the slope displacement change condition and the slope inclination change condition, integrates the two types of data to analyze the whole and local deformation condition of the slope surface, and completes the monitoring of the slope surface deformation condition.
3. For slope monitoring in a medium range, the Zigbee wireless communication module is used, a swarm network can be formed through ad hoc networking, high-frequency communication is carried out by adopting a 2.4GHz frequency band, diffraction is low, the anti-multipath capability is good, the advantages of low power consumption and low cost are achieved, and the Zigbee wireless communication module is very suitable for being arranged and used in a large area in the field.
4. For monitoring the slope in a large range, the Lora wireless communication module is used, so that long-distance communication can be realized, and compared with a Zigbee wireless communication module, the Zigbee wireless communication module has higher stability and better anti-interference performance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic diagram of the system of the present invention;
fig. 2 is a schematic block diagram of the system of the present invention.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
Example 1
The invention provides a bee colony type slope monitoring system based on a surface inclination angle sensor, which comprises:
the monitoring node devices are distributed on the surface of the side slope at intervals; the monitoring node equipment comprises a micro-electro-mechanical system tilt angle sensor and a battery; the micro electro mechanical system inclination angle sensor is used for monitoring the inclination change of the side slope and also used for realizing sensor positioning by utilizing the signal time delay in the communication process to monitor the displacement change of the side slope;
the data transmission equipment is arranged at the periphery of the side slope and used for transmitting the monitoring data of the monitoring node equipment to the remote platform, and the monitoring data comprises the inclination change and the displacement change of the side slope; and
and the remote platform is used for analyzing the slope deformation condition according to the monitoring data.
The working principle of example 1 is explained in detail below:
and the monitoring node equipment is internally provided with an MEMS tilt angle sensor and a battery. The MEMS tilt angle sensor comprises a sensor chip, a microcontroller and a wireless communication module. The sensor chip is a micro device integrating a micro sensor, a micro mechanical structure, a signal processing and control circuit and a communication interface, and comprises a silicon sensitive micro capacitance sensor and an ASIC special integrated circuit; the ASIC circuit integrates an EEPROM memory, a signal amplifier, an A/D converter, a temperature sensor and an SPI serial communication interface. In this embodiment, microcontroller can select the singlechip for use, can reduce the energy consumption, extension equipment life.
In this embodiment, as shown in fig. 1, the monitoring node device is divided into an upper end and a lower end. The upper end of the monitoring node device is in a round bar shape, the material of the upper end of the monitoring node device is engineering plastic, and the MEMS inclination angle sensor is preferably arranged inside the upper end of the monitoring node device. The upper end of the wireless communication module is made of engineering plastics so as to avoid interference on signals of the wireless communication module. The lower end of the monitoring node device is conical, the monitoring node device is made of metal, such as stainless steel, and the conical metal lower end can be conveniently inserted into a rock-soil layer of a side slope. In order to reduce the influence on the electromagnetic wave signal field intensity, preferably, during construction, the conical metal part at the lower end of the monitoring node device is completely inserted into the rock-soil layer, and the engineering plastic part at the upper end of the monitoring node device is completely exposed out of the rock-soil surface. The installation position of the battery in the monitoring node device is not limited, and the battery is preferably arranged at the upper end of the monitoring node device, the battery is polymer lithium electrons, the capacity is 1000-2000mAh, and the reliability and the safety of the battery are high.
In this embodiment, the wireless communication module in the MEMS tilt sensor is preferably a Zigbee wireless communication module, the model is F8913, and after the antennas and the transmission power with different gains are combined, the actual effective communication distance can reach 200 and 500 meters. The Zigbee is also called as a Zigbee, high-frequency communication is carried out by adopting a 2.4GHz frequency band, the diffraction is low, the multipath resistance is good, the advantages of low power consumption and low cost are achieved, and the Zigbee is very suitable for being laid and used in large areas in the field; a large number of nodes on the network and various topologies are supported, and the communication between the nodes is safe and reliable; each network node can automatically form a network of a bee colony, and any node in the network can carry out data communication.
When monitoring the deformation state of a side slope, a plurality of monitoring node devices are required to be arranged on a certain section of side slope in a manner of inserting a rock-soil layer. The larger the slope range to be monitored is, the more the monitoring node equipment is buried. In this embodiment, for example, as shown in fig. 1, the monitoring node devices are arranged in a 6 × 9 grid, and a total of 54 monitoring node devices form monitoring network nodes of the swarm-type monitoring system, where each monitoring node device corresponds to one monitoring network node. Positioning of each monitoring node device is obtained by positioning the sensor by utilizing the signal time delay in the communication process; calculating the space coordinates of each monitoring node device by a microcontroller according to a positioning spherical intersection algorithm; and transmitting the space coordinate change data of each monitoring node device to a remote platform through data transmission equipment, and calculating the relative position change trend among the monitoring node devices by the remote platform to obtain the slope displacement change condition. Meanwhile, the inclination change condition of the side slope is monitored through the MEMS inclination angle sensor and transmitted to the remote platform through the data transmission equipment. And finally, combining the slope displacement change condition and the slope inclination change condition by a remote platform, and analyzing the whole and local deformation condition of the slope surface by synthesizing two types of data to complete the monitoring of the deformation condition of the slope surface.
Positioning among monitoring node devices is realized by utilizing signal time delay in a communication process, and a space coordinate of each monitoring node device is calculated by utilizing a spherical intersection algorithm, wherein the method specifically comprises the following steps:
each monitoring node device is used as a base station and a label, and is numbered, namely number 1 and number 2 … … 54. No. 1 is used as a base station, No. 2 is used as a label, and the communication between No. 1 and No. 2 is realized by a Zigbee wireless communication module. The number 1 (base station) first transmits a signal to the number 2 (tag), and the number 1 (base station) records transmission time information T1 of transmitting the signal; the information carried in the signal is not limited, and the smaller the amount of information, the better. After receiving the signal of the number 1 (base station), the number 2 (tag) returns an acknowledgement signal to the number 1 (base station). After receiving the acknowledgement signal returned from the 2 nd station (tag), the 1 st station records the reception time information T2 of the received acknowledgement signal. The microcontroller in the base station 1 calculates the time difference Tr between T1 and T2, and the distance d between the base station 1 and the tag 2 is c × Tr/2, where c represents the propagation speed of the electromagnetic wave in the air. The positioning is carried out once, two times of communication is needed between each base station and the label, the positioning has the advantages of convenience in implementation and low requirement on hardware equipment, and the positioning can be realized only by a plurality of base stations and labels placed at different positions.
Through the positioning process, the space line segments connecting any two monitoring node devices can be obtained, the space line segments are multiple, and the space line segments can further reflect the azimuth angles of the monitoring node devices and the direction vectors of the space line segments. And calculating by a spherical intersection algorithm to obtain the space coordinates of each monitoring node device. The monitoring node devices are respectively regarded as the sphere center of a sphere, the radius of the sphere is respectively a certain space line segment connecting any two monitoring node devices, the number of the spheres is multiple, and one sphere center can simultaneously correspond to a plurality of spherical surfaces.
For a spatial straight line, a point M on the known straight line L0(x0，y0，z0) And the direction vector s (m, n, p) of the line L, the spatial line L satisfies the equation:
if the ratio of the above formula (1) is t, the parametric equation of the straight line L is:
for a certain part of the spatial line segment in the spatial straight line, if a starting point O (where a certain monitoring node device is located) and an end point E (where another monitoring node device is located) of the spatial line segment are known, a direction vector D of the spatial line segment may be represented as D ═ E-O, and equation (2) may be converted into equation (3), as follows:
in the formula (3), t has a value ranging from 0 to 1.
Setting the coordinate of the position of a certain monitoring node device as C (C)x，Cy，Cz) And C is the center of the sphere, and the radius of the sphere is R, the formula of the sphere is as follows:
(x-Cx)2+(y-Cy)2+(z-Cz)2＝R2 (4)
simultaneous equations (3) and (4) can obtain a quadratic equation of one unit with respect to t, as shown in the following equation
(Ox+Dxt-Cx)2+(Oy+Dyt-Cy)2+(Oz+Dzt-Cz)2＝R2 (5)
Solving equation (5) can obtain the value of t, there are 3 cases when solving, there is an intersection point if two spheres are tangent, there are two intersection points if two spheres are tangent, there is no intersection point if two spheres are neither tangent nor intersected. And substituting t into the formula (3) to obtain the coordinates of the intersection point. The coordinates of the intersection points correspond to the spatial coordinates of each monitoring node device. When the spherical intersection algorithm is used for calculation, in order to improve the calculation accuracy, the data can be preprocessed by adopting a Kalman filtering algorithm.
In this embodiment, each monitoring node device can be used as a base station, so that a plurality of equations are constructed when calculating the spatial coordinates of each monitoring node device, and in order to improve the positioning accuracy, least square fitting may be used for solving. Specifically, for the same monitoring node device, because it serves as both a tag and a base station of other tags during communication, there are multiple spatial line segments corresponding to the monitoring node device, and there are multiple spherical surfaces with the monitoring node device as the center of sphere. When the spherical intersection algorithm is used for calculation, the space line segments and the spherical surface are solved by adopting least square fitting, so that the discrete error can be eliminated, and the space coordinate calculated by each monitoring node device is more accurate. Therefore, the traditional MEMS tilt sensor is used, under the condition that the hardware cost is not increased, the sensor positioning is realized through the signal time delay in the communication process, the MEMS tilt sensor can have the capability of providing monitoring slope displacement data, and the multi-dimensional monitoring effect is provided.
After the MEMS tilt sensor performs ad hoc networking through the Zigbee wireless communication module, as shown in fig. 1, information acquired by the sensor may be transmitted to a remote platform through a data transmission device erected near the periphery of the side slope, such as a 4G/5G communication module or a beidou satellite communication module.
Through the technical scheme of the embodiment, a plurality of monitoring node devices are arranged on a side slope in a gridding mode, a swarm type network is formed by ad hoc networks, and the distance sensing capability among a plurality of MEMS tilt sensors is built. Only one type of MEMS tilt sensor is used, and data collection can be simultaneously carried out on slope displacement change and slope change conditions and transmitted to a remote platform. The remote platform combines the slope displacement change condition and the slope inclination change condition, integrates the two types of data to analyze the whole and local deformation condition of the slope surface, and completes the monitoring of the slope surface deformation condition.
Example 2
In the actual engineering, the side slope range to be monitored has a large or small range, and the span length is from hundreds of meters to thousands of meters. In embodiment 1, the actual effective communication distance of the Zigbee wireless communication module is 200-500 meters, and for some large-scale slope monitoring, the effective communication distance is not far enough, and the whole slope cannot be covered. In order to solve the technical problems, the following technical scheme is adopted for further optimization on the basis of the embodiment 1:
the wireless communication module selects Lora with the model number of 433C 30. The Lora wireless communication module can complete ad hoc network, and the center frequency of the communication frequency band is 433MHz and 868 MHz. Compared with the communication frequency band of Zigbee, Lora belongs to low-frequency communication, the transmission distance is long, the actual effective communication distance can reach more than 2000 meters, and the problem that low power consumption and long distance cannot be achieved simultaneously is solved. Compared with 2.4G, Bluetooth and WiFi, a monitoring avoidance mechanism is arranged in the Lora protocol, so that automatic frequency point skipping and rate self-adaptive switching can be realized; lora has higher stability and better anti-interference performance.
Example 3
In embodiment 1, there are 54 monitoring node devices in total, and when one monitoring node device is used as a tag, the other 53 monitoring node devices are all used as base stations. Then a positioning is completed and the total number of times N that communication needs to be performed is, N54 |. 52! X 2 is 5724. Therefore, once positioning is completed, the total times of communication are more, the positioning time is longer, and the power consumption of the monitoring node equipment is high. In order to solve the technical problems, the following technical scheme is adopted:
all monitoring node equipment is used as a base station for communication, and primary positioning is completed;
in the subsequent monitoring process, the base stations corresponding to each label are reduced, and the labels are enabled to adaptively search the base stations within a certain distance range for communication.
Specifically, after 54 monitoring node devices are arranged, according to the technical scheme of embodiment 1, each monitoring node device is used as a base station and a label, and communication is performed for 5724 times to complete primary positioning. Then, according to a preset time interval, each monitoring node device is respectively used as a label, other monitoring node devices in a certain distance range around the position where the monitoring node device is located are used as base stations, and the label and the base stations are communicated for multiple times to achieve positioning. In this embodiment, the distance range is preferably 10 meters to 50 meters, and each tag selects 4-10 other monitoring node devices around the distance range as a base station by itself, so as to complete the work of adaptively searching for the base station to communicate within a certain distance range.
Through the technical scheme of the embodiment, the calculation workload can be greatly reduced on the premise of basically ensuring the positioning accuracy.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (10)
1. The utility model provides a bee colony formula side slope monitoring system based on earth's surface inclination sensor which characterized in that includes:
the monitoring node devices are distributed on the surface of the side slope at intervals; the monitoring node equipment comprises a micro-electro-mechanical system tilt angle sensor and a battery; the inclination angle sensor of the micro electro mechanical system is used for monitoring the inclination change of a side slope and also used for realizing the positioning of the sensor by utilizing the signal time delay in the communication process to monitor the displacement change of the side slope, and comprises the following components: each monitoring node device is used as a base station and a label, and the positioning of each monitoring node device is obtained by utilizing the signal delay in the communication process; calculating the space coordinates of each monitoring node device by a microcontroller according to a positioning spherical intersection algorithm; transmitting the space coordinate change data of each monitoring node device to a remote platform through data transmission equipment; calculating the relative position change trend among the monitoring node devices by the remote platform to obtain the condition of slope displacement change;
the data transmission equipment is arranged at the periphery of the side slope and used for transmitting monitoring data of the monitoring node equipment to the remote platform, and the monitoring data comprises inclination change and displacement change of the side slope; and
and the remote platform is used for analyzing the slope deformation condition according to the monitoring data.
2. The bee-colony type slope monitoring system based on the earth surface inclination angle sensor as claimed in claim 1, wherein: and the plurality of monitoring node devices are arranged on the surface of the side slope in a gridding mode.
3. The bee-colony type slope monitoring system based on the earth surface inclination angle sensor as claimed in claim 1, wherein: the monitoring node equipment comprises an upper end and a lower end, wherein the upper end is made of round bar-shaped engineering plastics, and the lower end is made of conical metal; the MEMS tilt angle sensor is arranged inside the upper end.
4. The bee-colony type slope monitoring system based on the earth surface inclination angle sensor as claimed in claim 1, wherein: the battery is a polymer lithium battery.
5. The bee-colony type slope monitoring system based on the earth surface inclination angle sensor as claimed in claim 1, wherein: the micro-electro-mechanical system tilt angle sensor comprises a sensor chip, a microcontroller and a wireless communication module; the wireless communication module ad hoc network forms a swarm network.
6. The bee-colony type slope monitoring system based on the earth surface inclination angle sensor as claimed in claim 5, wherein: the wireless communication module comprises Zigbee and Lora.
7. The bee-colony type slope monitoring system based on the earth surface inclination angle sensor as claimed in claim 1, wherein: when the spherical intersection algorithm is used for calculation, the data are preprocessed by adopting a Kalman filtering algorithm.
8. The bee-colony type slope monitoring system based on the earth surface inclination angle sensor as claimed in claim 1, wherein: when the spherical intersection algorithm is used for calculation, the space line segment and the spherical surface are fitted and solved by adopting a least square method.
9. The bee-colony type slope monitoring system based on the surface inclination sensor as claimed in claim 1, wherein the position of each monitoring node device is obtained by using signal delay of the communication process, and further comprising:
all monitoring node equipment is used as a base station for communication, and primary positioning is completed;
in the subsequent monitoring process, the base stations corresponding to each label are reduced, the labels are enabled to adaptively search the base stations within a certain distance range for communication, and the relocation is completed.
10. The bee-colony type slope monitoring system based on the earth surface inclination angle sensor as claimed in claim 1, wherein: the data transmission equipment comprises a 4G/5G communication module and a Beidou satellite communication module.
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| CN114623776B (en) * | 2022-05-16 | 2022-07-22 | 四川省公路规划勘察设计研究院有限公司 | Tunnel deformation monitoring-based tunnel damage prediction method |
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