CN113884137A - Dangerous rock posture monitor for unmanned aerial vehicle throwing installation and method thereof - Google Patents
Dangerous rock posture monitor for unmanned aerial vehicle throwing installation and method thereof Download PDFInfo
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- CN113884137A CN113884137A CN202111176406.1A CN202111176406A CN113884137A CN 113884137 A CN113884137 A CN 113884137A CN 202111176406 A CN202111176406 A CN 202111176406A CN 113884137 A CN113884137 A CN 113884137A
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- 239000011435 rock Substances 0.000 title claims abstract description 60
- 238000009434 installation Methods 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 21
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 34
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Abstract
The invention provides a dangerous rock posture monitor for unmanned aerial vehicle throwing installation and a method thereof. Dangerous rock gesture monitor of unmanned aerial vehicle jettison installation, including the fixed foot of iron plate, solar cell panel, circuit board, battery, shell, point type and the rubber ball that is equipped with the adhesive, iron plate, circuit board and battery setting are inside the shell, solar cell panel sets up the surface at the shell, the fixed foot of point type and the rubber ball that is equipped with the adhesive set up the lower extreme at the shell. The unmanned aerial vehicle is installed in a throwing mode, so that the installation difficulty, cost and period are reduced compared with the traditional manual installation mode; the invention adopts the self-adaptive variable frequency acquisition method taking the fluctuation sensitivity as the guide, and reduces the power consumption and the cost of equipment compared with the traditional equal-interval acquisition method; the method has certain universality, is suitable for rapid layout monitoring of dangerous rock masses under emergency disaster relief situations, and has wide popularization and application values.
Description
Technical Field
The invention relates to the field of geological disaster monitoring and early warning, in particular to a dangerous rock posture monitor for unmanned aerial vehicle throwing installation.
Background
In the field of geological disaster monitoring and early warning, the attitude monitoring of dangerous rock masses is an important task. Dangerous rock mass usually means that the inclination is steep, and the top layer rock mass is very broken, has formed the structural plane that is unfavorable for the rock mass stability, and this type of rock mass is very easily unstable and causes geological disasters, causes certain economic loss, and therefore the monitoring early warning of dangerous rock mass is very important to geological disasters prevention and cure.
The geological disaster caused by the dangerous rock mass is procedural, and the physical parameters such as the inclination angle, the acceleration and the like which can reflect the posture of the dangerous rock mass are very important for the analysis of the dangerous rock mass disaster mechanism. Although the dangerous rock mass has outbreak property in the disaster forming process, the inoculation period is relatively long, and after the shape and the size of the dangerous rock mass are found out, the dangerous rock mass needs to be observed through a corresponding monitoring means. The inclination angle can reflect the degree of the angle change of the dangerous rock body along with the time lapse in the deformation process, the degree of the gravity center deviation of the dangerous rock body is further obtained, and the deviation of the gravity center of the dangerous rock body easily causes instability so as to cause geological disasters, so the inclination angle is very important for monitoring the dangerous rock body. Acceleration can reflect the deformation activity degree of dangerous rock mass, and dangerous rock mass forms the change of instantaneous deformation speed on certain direction easily at the deformation in-process, can catch this change degree through acceleration sensor to reflect the active degree of dangerous rock mass deformation, if the rock mass is its activity degree height in certain time horizon, mean that its unstability's probability will increase by a wide margin, therefore acceleration sensor is very important to the monitoring of dangerous rock mass.
The monitoring to danger rock mass gesture still stops in artifical installation on the mounting means in current geological disasters monitoring early warning field, still stops in the collection of deciding frequently on data acquisition method, and its main defect is as follows: 1) for dangerous rock mass monitoring equipment, the difficulty of adopting a manual installation mode is high, the installation period is too long and the cost is too high due to on-site construction conditions, and the quick prevention and control of geological disasters caused by dangerous rock masses under emergency disaster relief conditions are not facilitated. 2) The data acquisition mode is the equidistant, namely the fixed frequency acquisition mode, and the abnormal complicacy of its acquisition means such as three-dimensional laser, image leads to the increase of system's overall power consumption and cost, makes equipment be unfavorable for universality geological disaster monitoring early warning.
Disclosure of Invention
The invention aims to solve the technical problem of providing a dangerous rock posture monitor for unmanned aerial vehicle throwing installation and a method thereof.
The technical scheme adopted by the invention for solving the technical problem is as follows: dangerous rock gesture monitor of unmanned aerial vehicle jettison installation, including the fixed foot of iron plate, solar cell panel, circuit board, battery, shell, point type and the rubber ball that is equipped with the adhesive, iron plate, circuit board and battery setting are inside the shell, solar cell panel sets up the surface at the shell, the fixed foot of point type and the rubber ball that is equipped with the adhesive set up the lower extreme at the shell.
The iron block is used for throwing and hoisting, the electromagnet on the unmanned aerial vehicle generates a magnetic field under the condition of opening, and the iron block and the electromagnet on the unmanned aerial vehicle are adsorbed together under the action of the magnetic field, so that throwing and hoisting of the unmanned aerial vehicle are realized; the solar panel is used for converting solar energy into electric energy so as to be beneficial to making up for the electric energy consumed by the system in operation; the circuit board is used for realizing a core function of dangerous rock posture monitoring; the isolation cover plate is used for fixing the battery, and the isolation cover plate fixes the battery on the lower wall in the shell, so that the battery is prevented from bumping along with the equipment under the bumping condition; the guide posts are arranged between the circuit board and the isolation cover plate, so that the circuit board is prevented from being in direct contact with the isolation cover plate, a certain space is formed between the circuit board and the isolation cover plate, and elements are conveniently distributed on the bottom layer of the circuit board; the battery is used for storing electric energy generated by solar energy and providing a direct current power supply for the system; the shell is used for protecting internal components from being corroded by rainwater, ultraviolet rays and the like; the pointed fixing foot is used for puncturing the rubber ball filled with the adhesive during throwing so as to release the adhesive, and meanwhile, the equipment can better grab the ground; the rubber ball containing the adhesive is used for containing the adhesive, the adhesive can be punctured by the pointed fixing foot to release the adhesive when the rubber ball is thrown, and the released adhesive is used for fixing the equipment on a throwing point.
A monitoring method of a dangerous rock posture monitor for unmanned aerial vehicle throwing installation comprises the following steps: 1) initializing the sensor and preset parameters; 2) detecting the state of the dial switch, wherein if the dial state is '001', the mounted communication module is a Beidou short message communication module, if the dial state is '010', the mounted communication module is a mobile communication module, and if the dial state is '011', the mounted communication module is a LoRa networking communication module; 3) acquiring acceleration sensor data, calculating a fluctuation value of the acquired acceleration sensor data, comparing the fluctuation value with the current fluctuation sensitivity, continuing the next acceleration sensor data acquisition operation if the calculated result is less than the current fluctuation sensitivity, and initiating a tilt sensor data acquisition operation if the calculated result is greater than the current fluctuation sensitivity; 4) after the inclination angle sensor data is obtained, carrying out digital filtering on the obtained group of inclination angle sensor data; 5) comparing the relative fluctuation values of the inclination angles, entering next cycle if the inclination angle fluctuation is not abnormal, and uploading and storing data if the inclination angle fluctuation is abnormal; 6) and calculating and updating the new fluctuation sensitivity.
The invention has the beneficial effects that: the unmanned aerial vehicle is installed in a throwing mode, so that the installation difficulty, cost and period are reduced compared with the traditional manual installation mode; the invention adopts the self-adaptive variable frequency acquisition method taking the fluctuation sensitivity as the guide, and reduces the power consumption and the cost of equipment compared with the traditional equal-interval acquisition method; the method has certain universality, is suitable for rapid layout monitoring of dangerous rock masses under emergency disaster relief situations, and has wide popularization and application values.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic diagram of the circuit board operating principle of the present invention;
FIG. 3 is a schematic diagram of a wireless communication network topology of the present invention;
FIG. 4 is a logic diagram of the monitoring method of the present invention;
fig. 5 is a schematic diagram of the software operating principle of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings in which:
as shown in fig. 1, the dangerous rock posture monitor for unmanned aerial vehicle throwing installation comprises a fixing strip 1, an iron block 2, a solar cell panel 3, a circuit board 4, an isolation cover plate 5, a guide post 6, a battery 7, a shell 8, a pointed fixing foot 9 and a rubber ball 10 filled with an adhesive, wherein the fixing strip 1 is used for fixing the iron block 2, the iron block 2 is fixed on the upper wall inside the shell 8 by the fixing strip 1, and the phenomenon that the iron block 2 follows the bump under the condition that a magnetic field is not applied when equipment bumps so as to influence the normal work of other parts is avoided; the iron block 2 is used for adsorbing an electromagnet on the unmanned aerial vehicle, when the dangerous rock posture monitor needs to be thrown and installed, the unmanned aerial vehicle firstly starts the electromagnet to generate a magnetic field to be adsorbed together with the iron block 2, then the equipment is transported to a designated throwing place in a hoisting mode, and finally the unmanned aerial vehicle closes the electromagnet to enable the generated magnetic field to disappear, so that the iron block 2 is not influenced by the magnetic field any more and then breaks away from the unmanned aerial vehicle to fall down, and the throwing action is completed, wherein the iron block 2 is preferably bar-shaped and is convenient to fix as shown in figure 1; the solar panel 3 is attached to the equipment shell 8 and used for converting solar energy into electric energy so as to help make up for the electric energy consumed during the operation of the system; the circuit board 4 is used for realizing a core function of dangerous rock posture monitoring; the isolation cover plate 5 is used for fixing the battery 7, and other parts are prevented from being influenced by excessive movement of the battery 7 under the condition of bumping; the guide columns 6 are used for forming a certain space between the circuit board 4 and the isolation cover plate 5, so that the circuit board 4 is prevented from being in direct contact with the isolation cover plate 5, and elements are conveniently distributed on the bottom layer of the circuit board 4; the battery 7 is used for storing electric energy generated by conversion of the solar panel 3 and providing a direct-current power supply for the system, and meanwhile, the battery 7 can also increase the weight of the equipment to enable the gravity center of the equipment to be positioned at the bottom of the equipment; the shell 8 is used for protecting the internal components from excessive erosion caused by external environmental factors such as rainwater, freezing, ultraviolet rays and the like; the pointed fixing feet 9 are used for puncturing the rubber ball 10 filled with the adhesive when the equipment is thrown so as to release the adhesive, and meanwhile, the pointed fixing feet 9 are adhered with the adhesive when the equipment is landed so as to increase the gripping capability; the rubber ball 10 filled with the adhesive is used for containing the adhesive, the adhesive between the equipment and the dangerous rock mass is provided when the equipment is thrown to the ground, the pointed fixing foot 9 punctures the rubber ball 10 filled with the adhesive and releases the adhesive when the equipment falls to the ground, and the released adhesive is used for fixing the equipment on a throwing point.
The circuit board 4 is used for monitoring the dangerous rock posture, the working principle of the circuit board 4 is shown in fig. 2, and the circuit board 4 comprises an MPPT charging circuit, an electric quantity detection circuit, an LED operation indicating circuit, a low-power consumption microcontroller, a wireless communication module, an inclination angle sensor, an acceleration sensor, an SD card and a code-shifting switch; the MPPT charging circuit is connected with the solar cell panel and the battery 7 and is used for converting the electric energy converted by the solar cell panel 3 into a charging voltage required by the battery 7 according to a maximum power tracking working mode, namely, the electric energy converted by the solar cell panel is converted and stored in the battery 7; the electric quantity detection circuit is connected with the battery and the low-power-consumption microcontroller and is used for acquiring electric quantity information of the battery 7 and feeding the electric quantity information of the battery back to the low-power-consumption microcontroller in an analog-to-digital conversion mode; the LED operation indicating circuit is connected with the GPIO of the low-power-consumption microcontroller, is used for indicating the operation state of the current system and is controlled by the GPIO of the low-power-consumption microcontroller; the inclination angle sensor is connected with an SPI (serial peripheral interface) of the low-power-consumption microcontroller and used for acquiring inclination angle data generated by deformation of the dangerous rock mass and feeding the inclination angle data back to the low-power-consumption microcontroller in an SPI (serial peripheral interface) protocol mode, and meanwhile, the inclination angle sensor is also controlled by a command of the low-power-consumption microcontroller, namely the inclination angle sensor is a slave; the acceleration sensor is connected with an SPI (serial peripheral interface) of the low-power-consumption microcontroller and used for acquiring acceleration data generated in the deformation process of the dangerous rock mass and feeding the acceleration data back to the low-power-consumption microcontroller in an SPI (serial peripheral interface) protocol mode, and meanwhile, the acceleration sensor is also controlled by a command of the low-power-consumption microcontroller, namely the acceleration sensor is a slave; the SD card is connected with a low-power consumption microcontroller GPIO and is used for storing or acquiring data such as a sensor and electric quantity; the dial switch is connected with the low-power consumption microcontroller GPIO and used for selecting the type of the wireless communication module for mounting; the wireless communication module is connected with a UART interface of the low-power-consumption microcontroller and is used for transmitting the acquired information such as the sensor data, the uploading time and the like to other terminal equipment; the low-power consumption microcontroller is connected with the electric quantity detection circuit, the LED operation indication circuit, the SD card, the wireless communication module, the inclination angle sensor, the acceleration sensor and the code pulling switch and is used for realizing the core function of dangerous rock posture detection.
The dangerous rock posture monitor has three types of wireless communication modes, the currently mounted wireless communication type can be selected through the dial switch, and the wireless communication topology is shown in fig. 3. The wireless communication module has three selectable communication modes, different communication modes determine different communication links, the communication mode is determined by a code pulling switch connected to the low-power-consumption microcontroller, when the code pulling state is '001', the communication mode is Beidou short message communication, and the communication link is from the wireless communication module to a Beidou satellite, then to a Beidou short message receiving gateway and finally to a cloud server; when the code pulling state is "010", the communication mode is mobile communication, such as 4G, 5G, and the like, and the communication link is from the wireless communication module to the mobile phone communication base station, to the operator gateway, and finally to the cloud server. When the code pulling state is "011", the communication mode is the LoRa networking communication, and the communication link is from the wireless communication module to the edge computing gateway and finally to the cloud server.
A program capable of realizing the dangerous rock posture monitoring method runs in the low-power-consumption microcontroller, and a logic schematic diagram of the dangerous rock posture monitoring method is shown in fig. 4. After the acceleration sensor acquires data, the acquired data is subjected to fluctuation value calculation, and the calculation mode is as follows:
in the formula, n represents the scale size of the sliding window, and the value of n is [1,2,3, …, n]，
The arithmetic mean of the previous time is shown,
which represents the current arithmetic mean value of the current,
representing the current data fluctuation value. In the present invention, the initialization value range of n is [1,2,3, …,12 ]]And n is fixed to be 12, and the value interval of n is updated according to the first-in first-out principle along with the updating of the sensor data.
And after the calculation of the data fluctuation value is finished, comparing the obtained result with the fluctuation sensitivity, initiating a tilt sensor data acquisition operation if the obtained result is greater than the current fluctuation sensitivity, and continuing to acquire the acceleration sensor data if the obtained result is less than the current fluctuation sensitivity.
After the data acquisition operation of the tilt sensor is completed to obtain a group of data, digital filtering is carried out, the purpose of the digital filtering is to obtain a result close to a true value, and errors caused by interference are avoided as much as possible, and the calculation mode is as follows:
in the formula
Representing the filtered result, n represents the filter sliding window size, which is taken to be [1,2,3, …, n]，xminIs the minimum value, x, in the current filter sliding windowmaxIs the maximum value in the current filter sliding window. In the present invention, n is [1,2,3, …,12 ]]And n is fixed to be 12, and the value interval of n is updated according to the first-in first-out principle along with the updating of the sensor data.
And obtaining the inclination angle value of the current dangerous rock mass after the digital filtering is finished, and dividing relative fluctuation grades according to the value, wherein the total number of the grades is A, B, C. If the obtained relative inclination angle value is between 0 and 5 degrees, the obtained relative inclination angle value is classified into A grade; if the obtained relative inclination angle value is between 5 and 10 degrees, the grade is B; if the obtained relative inclination angle value is between 10 and 90 degrees, the grade is classified as C.
After the fluctuation level is determined, data is uploaded and stored on one hand, and the fluctuation sensitivity is adjusted on the other hand. The initial fluctuation sensitivity value is 0.3, and if the relative fluctuation grade is A grade, the fluctuation sensitivity is 0.6; if the relative fluctuation grade is B grade, the fluctuation sensitivity is 0.4; if the relative fluctuation level is of the C level, the fluctuation sensitivity is 0.2. The smaller the fluctuation sensitivity is, the weaker data fluctuation value of the acceleration sensor can trigger one-time inclination angle sensor acquisition operation, namely the acquisition frequency of the inclination angle data is adjusted through the relative fluctuation degree of the inclination angle value, and the variable-frequency low-power-consumption acquisition is realized.
The working principle of the software of the invention is shown in fig. 5, and the software firstly carries out initialization operation on a sensor, preset parameters and the like during running. And then detecting the state of the dial switch, wherein if the dial state is '001', the mounted communication module is a Beidou short message communication module, if the dial state is '010', the mounted communication module is a mobile communication module, and if the dial state is '011', the mounted communication module is a LoRa networking communication module. Then, the large loop of while (1) is entered, and the acceleration sensor data is acquired. And then, calculating and comparing the fluctuation value of the acquired acceleration sensor data, continuing the next acceleration sensor data acquisition operation if the calculated result is less than the current fluctuation sensitivity, and acquiring the tilt sensor data if the calculated result is more than the current fluctuation sensitivity. And then after the inclination angle sensor data acquisition is finished, performing digital filtering on the acquired group of inclination angle sensor data. And after the digital filtering is finished, comparing the relative fluctuation values of the inclination angles, entering next cycle if the inclination angle fluctuation is not abnormal, and uploading and storing the data if the inclination angle fluctuation is abnormal. And finally, updating the new fluctuation sensitivity after calculating the new fluctuation sensitivity.
The foregoing has described the general principles and features of the present invention, as well as its advantages. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. Dangerous rock gesture monitor of installation is jettisoned to unmanned aerial vehicle, its characterized in that, including iron plate (2), solar cell panel (3), circuit board (4), battery (7), shell (8), the fixed foot of point type (9) and rubber ball (10) that are equipped with the adhesive, iron plate (2), circuit board (4) and battery (7) set up inside shell (8), solar cell panel (3) set up the surface at shell (8), the fixed foot of point type (9) and rubber ball (10) that are equipped with the adhesive set up the lower extreme at shell (8).
2. The dangerous rock attitude monitor for unmanned aerial vehicle throwing installation according to claim 1, further comprising a fixing strip (1), wherein the fixing strip (1) fixes the iron block (2) on the upper wall inside the shell (8).
3. The dangerous rock posture monitor of unmanned aerial vehicle jettison installation of claim 1, characterized by further comprising guide post (6) and isolation cover plate (5), the isolation cover plate (5) fixes battery (7) at the inside lower wall of shell (8), guide post (6) set up between circuit board (4) and isolation cover plate (5), avoid circuit board (4) and isolation cover plate (5) direct contact.
4. The dangerous rock attitude monitor for unmanned aerial vehicle throwing installation according to claim 1, wherein the battery (7) is used for storing electric energy generated by conversion of the solar panel (3) and providing a direct current power supply for the whole system.
5. The dangerous rock attitude monitor for unmanned aerial vehicle throwing installation according to claim 1, wherein the pointed fixing foot (9) is used for puncturing a rubber ball (10) filled with an adhesive when the throwing falls to the ground.
6. The dangerous rock posture monitor for unmanned aerial vehicle throwing installation according to claim 1, wherein the circuit board comprises an MPPT charging circuit, an electric quantity detection circuit, an LED operation indication circuit, a low-power consumption microcontroller, a wireless communication module, an inclination angle sensor, an acceleration sensor, an SD card and a code pulling switch, and the MPPT charging circuit converts electric energy output by the solar cell panel (3) into a charging voltage required by the battery (7); the electric quantity detection circuit acquires the current electric quantity of the battery and feeds the electric quantity back to the low-power consumption microcontroller in an analog-to-digital conversion mode; the LED operation indicating circuit is controlled by a GPIO (general purpose input/output) of the low-power-consumption microcontroller and is used for indicating the operation state of the current system; the low-power consumption microcontroller realizes a dangerous rock posture monitoring function; the wireless communication module transmits the acquired sensor data and the uploading time information to other terminal equipment; the inclination angle sensor acquires inclination angle physical quantity generated by deformation of the dangerous rock mass and feeds the inclination angle physical quantity back to the low-power-consumption microcontroller through an SPI (serial peripheral interface) protocol, and the inclination angle sensor is controlled by a command of the low-power-consumption microcontroller; the acceleration sensor acquires an acceleration physical quantity generated by deformation of the dangerous rock mass and feeds the acceleration physical quantity back to the low-power-consumption microcontroller through an SPI (serial peripheral interface) protocol, and the acceleration sensor is controlled by a command of the low-power-consumption microcontroller; the SD card is connected to a GPIO of the low-power-consumption microcontroller and is used for storing sensor and electric quantity data; and the code pulling switch selects the type of the wireless communication module which is currently mounted.
7. The dangerous rock attitude monitor for unmanned aerial vehicle throwing installation according to claim 6, wherein the wireless communication modules are of three types, and if the code pulling state is '001', the system is currently hung on the Beidou short message communication module; if the code pulling state is '010', the system is currently hung on the mobile communication module; and if the code pulling state is 011, the system is currently hung on the LoRa networking communication module.
8. The dangerous rock attitude monitor for unmanned aerial vehicle throwing installation as claimed in claim 6, wherein the low power consumption microcontroller can divide relative fluctuation grade and fluctuation sensitivity through an internal operation program, can drive acceleration and inclination angle sensors to perform corresponding data acquisition, can drive a wireless communication module to upload data, can drive a power detection circuit to acquire battery power information, can drive an LED operation indication circuit to perform LED on-off control, can drive an SD card to store and acquire data, can acquire state information of a dial switch to determine a currently mounted communication module, can compare the calculated acceleration sensor data fluctuation value with the fluctuation sensitivity to further change the acquisition density of the acceleration sensor data, and can calculate the data fluctuation value of the acquired acceleration sensor data according to the following formula:
in the above formula, n represents the scale size of the sliding window, and its value is [1,2,3, …, n]，
The arithmetic mean of the previous time is shown,
which represents the current arithmetic mean value of the current,
representing the fluctuation value of the current data, and the initialized value range of n is [1,2,3, …,12 ]]And n is fixed to be 12, the value interval of the updated n of the sensor data is updated according to a first-in first-out principle, and the sensor data is digitally filtered according to the following formula:
in the above formula
Representing the filtered result, n represents the filter sliding window size, which is taken to be [1,2,3, …, n]，xminIs the minimum value, x, in the current filter sliding windowmaxThe initialized value range of n is [1,2,3, …,12 ] for the maximum value in the current filter sliding window]And n is fixed to be 12, and the value interval of n is updated according to the first-in first-out principle along with the updating of the sensor data.
9. A monitoring method of a dangerous rock posture monitor for unmanned aerial vehicle throwing installation is characterized by comprising the following steps: 1) initializing the sensor and preset parameters; 2) detecting the state of the dial switch, wherein if the dial state is '001', the mounted communication module is a Beidou short message communication module, if the dial state is '010', the mounted communication module is a mobile communication module, and if the dial state is '011', the mounted communication module is a LoRa networking communication module; 3) acquiring acceleration sensor data, calculating a fluctuation value of the acquired acceleration sensor data, comparing the fluctuation value with the current fluctuation sensitivity, continuing the next acceleration sensor data acquisition operation if the calculated result is less than the current fluctuation sensitivity, and initiating a tilt sensor data acquisition operation if the calculated result is greater than the current fluctuation sensitivity; 4) after the inclination angle sensor data is obtained, carrying out digital filtering on the obtained group of inclination angle sensor data; 5) comparing the relative fluctuation values of the inclination angles, entering next cycle if the inclination angle fluctuation is not abnormal, and uploading and storing data if the inclination angle fluctuation is abnormal; 6) and calculating and updating the new fluctuation sensitivity.
10. The monitoring method of the dangerous rock posture monitor thrown and installed by the unmanned aerial vehicle as claimed in claim 9, wherein the fluctuation value of the acquired acceleration sensor data in the step 3) is calculated as follows:
in the above formula, n represents the scale size of the sliding window, and its value is [1,2,3, …, n]，
The arithmetic mean of the previous time is shown,
which represents the current arithmetic mean value of the current,
representing the fluctuation value of the current data, and the initialized value range of n is [1,2,3, …,12 ]]The value of n is fixed to 12, and the value interval of n is updated according to the first-in first-out principle along with the updating of the sensor data;
the digital filtering in step 4) is to obtain a result close to the true value, so as to avoid errors caused by interference, and the calculation is as follows:
in the above formula
Representing the filtered result, n represents the filter sliding window size, which is taken to be [1,2,3, …, n]，xminIs the minimum value, x, in the current filter sliding windowmaxThe value of n is [1,2,3, …,12 ] which is the maximum value in the current filter sliding window]The value of n is fixed to 12, and the value interval of n is updated according to the first-in first-out principle along with the updating of the sensor data;
comparing the relative fluctuation values of the inclination angles in the step 5), dividing the relative fluctuation grades according to the values, and if the obtained relative inclination angle value is between 0 and 5 degrees, dividing the relative fluctuation grades into A grades; if the obtained relative inclination angle value is between 5 and 10 degrees, the grade is B; if the obtained relative inclination angle value is between 10 and 90 degrees, the obtained relative inclination angle value is divided into a grade C;
calculating new fluctuation sensitivity in the step 6), initializing a fluctuation sensitivity value to be 0.3, and if the relative fluctuation grade is A level, determining the fluctuation sensitivity to be 0.6; if the relative fluctuation grade is B grade, the fluctuation sensitivity is 0.4; if the relative fluctuation level is of the C level, the fluctuation sensitivity is 0.2.
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| CN202111176406.1A CN113884137B (en) | 2021-10-09 | 2021-10-09 | Dangerous rock posture monitor installed by unmanned aerial vehicle throwing and method thereof |
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| CN202111176406.1A CN113884137B (en) | 2021-10-09 | 2021-10-09 | Dangerous rock posture monitor installed by unmanned aerial vehicle throwing and method thereof |
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| CN113884137A true CN113884137A (en) | 2022-01-04 |
| CN113884137B CN113884137B (en) | 2024-08-06 |
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