CN212008948U - Internet of things tower deformation monitoring device integrating Beidou and inertial navigation positioning technology - Google Patents
Internet of things tower deformation monitoring device integrating Beidou and inertial navigation positioning technology Download PDFInfo
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- CN212008948U CN212008948U CN202020236532.6U CN202020236532U CN212008948U CN 212008948 U CN212008948 U CN 212008948U CN 202020236532 U CN202020236532 U CN 202020236532U CN 212008948 U CN212008948 U CN 212008948U
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Abstract
The utility model provides a fuse big dipper and be used to lead positioning technology's thing networking shaft tower deformation monitoring devices, include big dipper satellite monitoring point equipment, be used to lead positioning sensing monitoring devices, spatial data preprocessing platform, multimode thing networking communication module, solar cell, power management module, input/output panel and backstage data monitoring platform. The Beidou satellite monitoring point equipment and the inertial navigation positioning sensing monitoring device are fixed on a monitored rod body, are connected with a spatial data preprocessing platform through a multimode Internet of things communication module and are used for automatically measuring the health states of the towers such as tower foundation settlement, tower inclination angle, structural wind load analysis and the like; the utility model discloses the device performance is good, small, the low power dissipation, and usable solar energy power supply combines low-power consumption monitoring devices and thing networking equipment furthest to realize unmanned on duty's long-term automatic monitoring.
Description
Technical Field
The utility model belongs to the technical field of wireless communication, especially, relate to a fuse big dipper and be used to lead internet of things shaft tower deformation monitoring devices of positioning technology.
Background
The development of the satellite navigation technology has wide social, economic, scientific and technological and national defense significance. With the competition and the updating of navigation technology among the large countries, the satellite positioning precision is continuously improved, the application range is wider and wider, and the satellite positioning system becomes an indispensable space information infrastructure in social life and national economy in the information era gradually. The Beidou satellite navigation system is developed for years, the latest Beidou satellite three constellation makes two major adjustments compared with the second generation at present, firstly, an independently developed hydrogen atomic clock is used for replacing a rubidium atomic clock imported from abroad, the precision is improved by 10 times, more fine application scenes can be supported, and sufficient service capability is provided for accurate time service and accurate positioning which cannot be realized by the previous generation system; and secondly, in order to realize the convenience of overseas satellite monitoring and injection, an inter-satellite communication measurement link is creatively used in the Beidou to realize a phased array inter-satellite link, so that the interconnection and intercommunication of satellites are realized, and the independent ranging, navigation and communication capabilities of the satellites which do not depend on a ground system are further improved. Besides the two-way short message service, the Beidou positioning system has a unique characteristic function compared with other navigation systems.
The NB-IoT (Narrow Band Internet of Things) technology has the characteristics of wide coverage area, low power consumption of equipment, multiple node support, more mature technology and low application cost, and is widely supported by the industry as a new technology in the field of Internet of Things. NB-IoT has good technical convergence with existing networks, and with the maturity of related industries and the falling of policy support, it has become an important branch of internet of everything at present, and has been applied to fields such as smart agriculture, logistics storage, smart cities, medical health, and smart power. The NB-IoT can be smoothly upgraded on the existing cellular network, can fully utilize original network equipment and other assets, reduces the repeated construction of the network, shortens the deployment period and reduces the construction cost. The NB-IoT equipment has extremely low power consumption level, is particularly suitable for the requirement of the Internet of things of unattended equipment, and can meet the efficient connection of equipment with higher network connection requirement on extremely small bandwidth. The 5G NR (5G New Radio, a New air interface technology for fifth generation mobile communication) is designed to realize the cellular network coverage capability of ultra-many devices, ultra-high density, extremely-low delay, extremely-high speed and a wider range according to a wider communication scene and a communication requirement of wide area interconnection.
The Beidou high-precision positioning technology is adopted, information transmission is carried out by combining a multi-mode network with NB-IoT and 5G NR as backups, all-weather automatic monitoring is carried out on the health state of the tower, the precision can reach millimeter level including changes such as displacement, deformation and settlement, and meanwhile, safety accidents caused by deformation of the tower are effectively reduced or prevented through a system warning and early warning mechanism. The precision of the current civil Beidou positioning is about 10 meters, and the civil Beidou positioning cannot be directly used for high-precision monitoring scenes. The auxiliary positioning of the inertial sensor technology can realize high-precision attitude positioning, motion capture, direction detection and the like, and is widely applied to the fields of automatic driving, three-dimensional modeling, motion detection and the like. The method is realized by relying on differential precision correction, a wide area enhancement technology and a sensor fusion navigation technology to realize millimeter-scale accurate monitoring of tower deformation. The differential algorithm for satellite positioning mainly depends on multiple measurements and joint processing of displacement data, such as regression processing, averaging and other methods, to eliminate the influence of measurement errors on the results as much as possible. Obviously, the accuracy of the satellite positioning in this process is highly dependent on the number of measurements and the time. Except the influence of artificial damage and strong natural disasters, the deformation process of the tower is quite slow, and the tower which is correctly installed and used can be completely positioned by fusion of a satellite and an inertial sensor to carry out high-precision measurement. The Beidou satellite monitoring point equipment and the inertial navigation positioning sensing monitoring device are fixed on a monitored rod body, connected with the spatial data preprocessing platform through the multimode Internet of things communication module and used for automatic measurement of tower health states such as tower footing settlement, tower inclination angle and structural wind load analysis. After a large amount of continuously measured positioning data is accumulated to an available degree, fusion calculation is carried out, and the positioning data with the precision below millimeters is calculated.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome prior art's shortcoming and not enough, provide a fuse big dipper and be used to lead the thing networking shaft tower deformation monitoring devices of positioning technique, the device is fixed in big dipper satellite monitoring point equipment and be used to lead positioning sensing monitoring devices on being fixed in by the shaft tower facilities such as monitoring communication shaft tower, electric power shaft tower, municipal lamp pole, construction tower crane, has the advantage of monitoring safety, small in size, installation simple, ultralow consumption.
The purpose of the utility model is realized through the following technical scheme: an Internet of things tower deformation monitoring device integrating Beidou and inertial navigation positioning technologies comprises Beidou satellite monitoring point equipment, an inertial navigation positioning sensing monitoring device, a spatial data preprocessing platform, a multi-mode Internet of things communication module, a background data monitoring platform and a power supply management module;
the Beidou satellite monitoring point equipment is arranged on the measured object, and the Beidou satellite monitoring point equipment positions the measured object according to measured satellite differential data, wherein the measured object comprises a tower;
the inertial navigation positioning sensing monitoring device is arranged on the measured object and is used for acquiring inertial attitude data of the measured object; the inertial navigation positioning sensing monitoring device is developed by adopting a micro-mechanical gyroscope;
the spatial data preprocessing platform is respectively connected with Beidou satellite monitoring point equipment, an inertial navigation positioning sensing monitoring device and a multi-mode Internet of things communication module; the spatial data preprocessing platform performs fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by an inertial navigation positioning sensing monitoring device to obtain preprocessed data;
the multimode Internet of things communication module transmits data preprocessed by the spatial data preprocessing platform to the background data monitoring platform through a narrow-band Internet of things or a 5G cellular wireless network;
the background data monitoring platform receives data transmitted by the multimode Internet of things communication module and remotely processes the data at the background by a computer to obtain tower deformation monitoring data subjected to background fusion processing, so that the health state of the tower is judged;
the multimode Internet of Things communication module integrates NB-IoT (Narrow-Band Internet of Things) and 5G NR communication capabilities, and comprises a Radio frequency core module and an antenna, wherein the Radio frequency core module is internally packaged with NB-IoT and 5G NR (5G New Radio, a global 5G standard designed based on a brand New air interface of OFDM and also a very important cellular mobile technology base of the next generation, and the 5G technology can realize ultralow time delay and high reliability) integrated modules which are mutually backed up in communication stability; the NB-IoT and 5G NR integrated modules are a BC28 NB-IoT module and an RG500Q 5G NR module respectively, and the BC28 NB-IoT module and the RG500Q 5G NR module are connected to form a wireless communication module;
the multimode Internet of things communication module and the Beidou satellite monitoring point equipment are installed in a split or combined mode;
the power management module is respectively connected with the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform and supplies power to the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform.
The inertial navigation positioning sensing monitoring device comprises an inertial sensor, wherein the inertial sensor is used for acquiring inertial attitude data of a measured object, and a 16-bit high-precision ADC (Analog-to-Digital Converter) is integrated in the sensor;
the spatial data preprocessing platform performs fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by an inertial navigation positioning sensing monitoring device to obtain preprocessed data, and only performs simple data cleaning on original data, performs attitude analysis roughly to judge tower deformation, and does not perform complex mathematical calculation;
the Beidou satellite monitoring point equipment comprises a satellite receiver and a satellite receiving antenna; the satellite receiver is used for receiving and processing Beidou No. three satellite positioning data; the satellite receiving antenna is used for gathering satellite signals to improve the quality of received signals;
the background data monitoring platform comprises a background server, wherein software for resolving inertial attitude data and software for processing satellite differential data are operated in the background server, and an algorithm for realizing fusion processing of the two data is realized.
The device further comprises an input and output panel, wherein the input and output panel is respectively connected with the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the power management module, and is used for manually controlling the Internet of things pole and tower deformation monitoring device through keys and indicating the current working state of the Internet of things pole and tower deformation monitoring device through the intelligent terminal.
The power management module comprises a solar charging and discharging circuit, a solar charging and discharging controller, a solar interface, a lithium battery pack interface, a load interface, an external electric interface, a solar battery, a two-stage electric protection device and an energy storage battery pack;
the solar charging and discharging circuit is connected with the solar charging and discharging controller, the solar charging and discharging circuit is a single-phase bridge rectifier circuit, and the single-phase bridge rectifier circuit is connected with the solar battery and the energy storage battery pack and is positioned at the charging end of the energy storage battery pack; the discharge end of the energy storage battery pack is connected with the two-stage electric protection device;
the solar charging and discharging circuit adopts a single-phase bridge rectifier circuit to ensure the single direction of charging the energy storage battery pack by the solar battery, and adopts a two-stage electric protection device to prevent the damage of sudden current increase to the battery or electronic elements; the high-efficiency boost conversion chip is adopted to ensure the power supply effect in rainy weather, and the boost conversion chip uses the MC33063A-Q1 of TI company, can meet the operating environment of-40 to 125 ℃, and has the characteristics of high efficiency, high output current, low quiescent current and the like.
The solar charge and discharge controller is used for controlling the solar charge and discharge circuit to work;
one end of the solar interface is connected with the solar battery, and the other end of the solar interface is connected with the solar charging and discharging circuit;
the solar battery charges the energy storage battery pack through the solar charging and discharging circuit;
the lithium battery pack interface is connected with the energy storage battery pack and is also provided with an interface for connecting with an external charging power supply;
one end of the load interface is connected with an external electrical interface, and the other end of the load interface is connected with the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device, the spatial data preprocessing platform and the input/output panel;
the external electric interface is respectively connected with an external power supply and a load interface and can charge a load and the energy storage battery pack;
the solar battery is used for energy conversion, and supplies power to the solar charging and discharging circuit through the solar interface, so that the requirement of the later-stage electric energy is met;
the energy storage battery pack supplies power to equipment connected with the load interface through the lithium battery pack interface and receives control signals of the input and output panel.
The solar charging and discharging circuit and the solar charging and discharging controller form a solar charging and discharging module, the solar charging and discharging module can simultaneously and independently perform charging and discharging work, and the solar charging and discharging module does not influence the charging and discharging process.
The spatial data preprocessing platform comprises a main control module and a universal peripheral equipment interface module; the main control module is respectively connected with the radio frequency core module and the universal peripheral equipment interface module through wires;
the main control module is used for receiving and storing inertial attitude data and differential data acquired by the inertial navigation positioning sensing monitoring device and the Beidou satellite monitoring point equipment, and transmitting the preprocessed data to the radio frequency core module after preprocessing the data and when the data needs to be transmitted to the outside;
the Universal peripheral equipment interface module comprises a USIM interface, a UART (Universal Asynchronous Receiver/Transmitter) serial port and an ADC (Analog to Digital Converter) interface;
the USIM interface is used for installing an operator Internet of things card; the UART serial port is used for communicating with the inertial navigation positioning sensing monitoring device to detect data; the ADC interface is used for being connected with an ADC converter in the inertial navigation positioning sensing monitoring device;
the main control module comprises a main controller, a Joint Test Action Group (JTAG) interface, a Read-Only Memory (ROM), a flash Memory and a Static Random-Access Memory (SRAM) which are connected by a lead;
the main controller adopts a low-power processor and is used for controlling the work and the signal processing of the main control module; the JTAG interface is used for debugging the main control module; the ROM stores a program of the main control module; the flash memory stores internal and external data of the main control module; the SRAM is used for accessing serial data in the main control module;
the radio frequency core module is internally packaged with NB-IoT and 5G NR integrated modules which are connected together and are used for mutual communication stability backup, and the radio frequency core module comprises a digital phase-locked loop, a DSP modem, an SRAM, a ROM and an amplifier, wherein the amplifier is connected with an antenna;
the digital phase-locked loop is used for realizing the modulation of an input signal; the DSP modem is responsible for carrying out digital signal processing on the transmitting and receiving signals of the communication of the Internet of things; the SRAM is used for accessing wireless communication serial data; the ROM stores a program of a radio frequency core module; the amplifier is used for carrying out power amplification on the radio-frequency signal;
the radio frequency core module is used for receiving data transmitted by the main control module when the data needs to be transmitted outwards and transmitting the data outwards through the antenna;
the antenna adopts a multi-frequency antenna with the model of AC-Q7035-N4, can meet the working environment of-40 to 80 ℃, is used for sending the preprocessing signal to a communication base station and transmitting the preprocessing signal to a background, and receives remote control information transmitted by the background data monitoring platform through a multi-mode network with NB-IoT and 5G NR serving as backups for each other; the preprocessing signal is a processing signal of the original tower deformation data acquired by the Beidou satellite monitoring point equipment and the inertial navigation positioning sensing monitoring device through the main control module.
The inertial navigation positioning sensing monitoring device comprises a sensor monitoring unit, a sensor interface module and a coprocessor module;
the sensor monitoring unit comprises an attitude reference system, an inertial measurement unit and a calculation unit;
the attitude reference system is used for initializing attitude reference of the measurement data of the inertial navigation positioning sensing monitoring device;
the inertial measurement unit is used for measuring tower deformation data by the inertial navigation positioning sensing monitoring device;
the resolving unit is used for preprocessing the tower deformation data measured by the inertial navigation positioning sensing monitoring device and then carrying out attitude estimation;
the sensor interface module comprises a sensor controller, an ADC and a comparator;
the sensor controller is used for sensing the working state of an inertial sensor in the inertial navigation positioning sensing monitoring device;
the ADC is used for converting and cleaning the detection data of the inertial navigation positioning sensing monitoring device;
the comparator is used for judging the voltage in the power management module;
the coprocessor module comprises a ROM, an SRAM and a coprocessor;
the ROM stores programs of the coprocessor module; the SRAM is used for accessing serial data in the coprocessor module; the coprocessor is a core processing unit of the coprocessor module;
the coprocessor module is respectively connected with the sensor monitoring unit, the universal peripheral interface module and the sensor interface module, processes inertial navigation positioning sensing monitoring device interaction data connected with the multimode Internet of things communication module, and performs clock synchronization management.
The sensor monitoring unit is developed by using an MEMS inertial sensor;
the solar cell adopts an energy-efficient perovskite cell;
the energy storage battery pack adopts an industrial 18650 lithium titanate battery pack.
The RG500Q 5G NR module comprises a high traffic company X555G modem;
the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device, the multi-mode Internet of things communication module and the power management module are integrated in a cuboid box, and the cuboid box is fixed on a measured object through a galvanized U-shaped bolt.
The background data monitoring platform comprises a background server and is used for operating inertial navigation and satellite differential fusion positioning software.
The Beidou satellite monitoring point equipment and the inertial navigation positioning sensing monitoring device are fixed on a monitored rod body through galvanized U-shaped bolts, and Beidou satellite monitoring data and attitude data acquired by an MEMS (Micro-Electro-Mechanical System) inertial sensor are original data used for calculating tower foundation settlement, tower inclination angle, structural wind load analysis and other tower health states; the multimode IOT communication Module is connected with the spatial data preprocessing platform, original data are transmitted to the multimode IOT communication Module through a sensor interface of the measuring device and a Universal peripheral device interface Module of the communication Module, the multimode IOT communication Module is communicated with the spatial data preprocessing platform through an interface connected with a lead, and the transparently transmitted original data are transmitted to the outside through a Universal Subscriber Identity Module (USIM) interface and a radio frequency core Module after being preprocessed by the spatial data preprocessing platform of which the main control Module is an MSP430F169 microcontroller; the background data monitoring platform is connected with the spatial data preprocessing platform and is used for performing background fusion processing on data sent after front-end preprocessing, the background server has strong computing capacity and can efficiently finish a large amount of data returned by the embedded system, and a final accurate result is obtained through inertial navigation and resolving of satellite differential fusion positioning software; the solar battery is connected with the power management module and used for supplying power to Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform in the monitoring device, and the unattended automatic monitoring time is prolonged by using a high-performance and high-safety industrial 18650 lithium titanate battery pack and a third-generation perovskite solar battery with high photoelectric conversion efficiency in combination with the use of low-power-consumption devices, chips and modules; the input and output panel is used for manual control during equipment installation, debugging and maintenance, and can indicate the current working state of the tower deformation monitoring device through the LED lamp.
The external electric interface is connected with an external power supply and supplies power to the load when the solar power supply is insufficient or the energy storage battery pack cannot work; therefore, the standby time and the service time of the device can be prolonged, and the uninterrupted operation is realized.
The solar cell adopts a third-generation perovskite solar cell, and has high photoelectric conversion efficiency, high efficiency and high safety; the energy storage battery pack is characterized in that an industrial 18650 lithium titanate battery pack with high performance and high safety suitable for outdoor environment is used; the time of unattended automatic monitoring is prolonged by combining the use of low-power-consumption devices, chips and modules.
After the signal is preprocessed and transmitted to the radio frequency core module, the main control module enters a sleep state until new data or other awakening instructions are received next time, and therefore power consumption of the spatial data preprocessing platform can be greatly reduced.
Furthermore, the sensor controller is used for sensing the working state of the sensor, controlling the multimode IOT communication module to automatically enter a sleep state if no signal is acquired, reducing the power consumption of the multimode IOT communication module,
the sensor monitoring unit is developed by adopting a nine-axis MEMS inertial sensor MPU9250 of InvenSense company, a 16-bit high-precision ADC and a digital motion processor are integrated inside, and complete nine-axis sensor fusion calculation data can be directly output outwards, so that attitude calculation is conveniently realized; the sensor has the main advantages of small volume, light weight, low power consumption, high reliability, high sensitivity, easy integration and the like, is the main force of a micro sensor, and has the tendency of replacing the traditional mechanical sensor.
Compared with the prior art, the utility model, following advantage and beneficial effect have: the utility model discloses a to communication, electric power, the municipal administration, the continuous automatic monitoring and the analysis of shaft tower facilities running state such as tower crane and the gesture condition, it is used with backstage data monitoring platform quantization monitoring business to handle through spatial data, for engineering construction and fortune dimension personnel provide quick discernment and the effective basis of solution problem, each other realizes stable wide area interconnection between the body of rod monitoring devices through NB-IoT and 5G NR for the multimode network of backup, the transmission mechanism of monitoring data has been optimized, reduce the error and the cost of artifical monitoring. The utility model discloses the device performance is good, small, the low power dissipation, and usable solar charging combines low-power consumption monitoring devices and thing networking equipment furthest to realize unmanned on duty's long-term automatic monitoring.
Drawings
These and/or other advantages of the present invention will become more apparent from the following detailed description of the present invention when taken in conjunction with the accompanying drawings and the following detailed description.
Fig. 1a is a hardware block diagram of the present embodiment.
Fig. 1b is a schematic view of an installation of the present embodiment.
Fig. 2 is a diagram of the power management module according to the present embodiment.
Fig. 3 is a reverse connection protection circuit diagram of the energy storage battery pack of the solar charging controller in the power management module of the present embodiment.
Fig. 4 is a charging circuit diagram of the solar charging and discharging circuit in the power management module of the present embodiment.
Fig. 5 is a discharge circuit diagram of the solar charge-discharge circuit in the power management module of the present embodiment.
Fig. 6 is a combination diagram of connection modes of the spatial data preprocessing platform and the multi-mode internet of things communication module according to the embodiment.
Fig. 7 is a composition diagram of the inertial navigation positioning sensing monitoring device according to the embodiment.
FIG. 8 is a schematic diagram of the change in tower displacement and tilt angle.
Detailed Description
The utility model provides an Internet of things pole tower deformation monitoring device integrating Beidou and inertial navigation positioning technologies, which comprises Beidou satellite monitoring point equipment, an inertial navigation positioning sensing monitoring device, a spatial data preprocessing platform, a multi-mode Internet of things communication module, a background data monitoring platform and a power management module;
the Beidou satellite monitoring point equipment is arranged on the measured object, and the Beidou satellite monitoring point equipment positions the measured object according to measured satellite differential data, wherein the measured object comprises a tower;
the inertial navigation positioning sensing monitoring device is arranged on the measured object and is used for acquiring inertial attitude data of the measured object; the inertial navigation positioning sensing monitoring device is developed by adopting a micro-mechanical gyroscope;
the spatial data preprocessing platform is respectively connected with Beidou satellite monitoring point equipment, an inertial navigation positioning sensing monitoring device and a multi-mode Internet of things communication module; the spatial data preprocessing platform performs fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by an inertial navigation positioning sensing monitoring device to obtain preprocessed data;
the multimode Internet of things communication module transmits data preprocessed by the spatial data preprocessing platform to the background data monitoring platform through a narrow-band Internet of things or a 5G cellular wireless network;
the background data monitoring platform receives data transmitted by the multimode Internet of things communication module and remotely processes the data at the background by a computer to obtain tower deformation monitoring data subjected to background fusion processing, so that the health state of the tower is judged;
the power management module is respectively connected with the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform and supplies power to the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform.
The inertial navigation positioning sensing monitoring device comprises an inertial sensor, wherein the inertial sensor is used for acquiring inertial attitude data of a measured object, and a 16-bit high-precision ADC (Analog-to-Digital Converter) is integrated in the sensor;
the spatial data preprocessing platform performs fusion preprocessing on differential data measured by Beidou satellite monitoring point equipment and inertial attitude data acquired by an inertial navigation positioning sensing monitoring device to obtain preprocessed data, and only performs simple data cleaning on original data, performs attitude analysis roughly to judge tower deformation, and does not perform complex mathematical calculation;
the Beidou satellite monitoring point equipment comprises a satellite receiver and a satellite receiving antenna; the satellite receiver is used for receiving and processing Beidou No. three satellite positioning data; the satellite receiving antenna is used for gathering satellite signals to improve the quality of received signals;
the background data monitoring platform comprises a background server, wherein software for resolving inertial attitude data and software for processing satellite differential data are operated in the background server, and an algorithm for realizing fusion processing of the two data is realized.
The system comprises a Beidou satellite monitoring point device, an inertial navigation positioning sensing monitoring device and a power management module, and is characterized by further comprising an input and output panel, wherein the input and output panel is respectively connected with the Beidou satellite monitoring point device, the inertial navigation positioning sensing monitoring device and the power management module, and is used for manually controlling the Internet of things pole and tower deformation monitoring device through keys and indicating the current working state of the Internet of things pole and tower deformation monitoring device through an intelligent terminal.
The power management module comprises a solar charging and discharging circuit, a solar charging and discharging controller, a solar interface, a lithium battery pack interface, a load interface, an external electric interface, a solar battery, a two-stage electric protection device and an energy storage battery pack;
the solar charging and discharging circuit is connected with the solar charging and discharging controller, the solar charging and discharging circuit is a single-phase bridge rectifier circuit, and the single-phase bridge rectifier circuit is connected with the solar battery and the energy storage battery pack and is positioned at the charging end of the energy storage battery pack; the discharge end of the energy storage battery pack is connected with the two-stage electric protection device;
the solar charging and discharging circuit adopts a single-phase bridge rectifier circuit to ensure the single direction of charging the energy storage battery pack by the solar battery, and adopts a two-stage electric protection device to prevent the damage of sudden current increase to the battery or electronic elements; the high-efficiency boost conversion chip is adopted to ensure the power supply effect in rainy weather, and the boost conversion chip uses the MC33063A-Q1 of TI company, can meet the operating environment of-40 to 125 ℃, and has the characteristics of high efficiency, high output current, low quiescent current and the like.
The solar charge and discharge controller is used for controlling the solar charge and discharge circuit to work;
one end of the solar interface is connected with the solar battery, and the other end of the solar interface is connected with the solar charging and discharging circuit;
the solar battery charges the energy storage battery pack through the solar charging and discharging circuit;
the lithium battery pack interface is connected with the energy storage battery pack and is also provided with an interface for connecting with an external charging power supply;
one end of the load interface is connected with an external electrical interface, and the other end of the load interface is connected with the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device, the spatial data preprocessing platform and the input/output panel;
the external electric interface is respectively connected with an external power supply and a load interface and can charge a load and the energy storage battery pack;
the solar battery is used for energy conversion, and supplies power to the solar charging and discharging circuit through the solar interface, so that the requirement of the later-stage electric energy is met;
the energy storage battery pack supplies power to equipment connected with the load interface through the lithium battery pack interface and receives control signals of the input and output panel.
The solar charging and discharging circuit and the solar charging and discharging controller form a solar charging and discharging module, the solar charging and discharging module can simultaneously and independently perform charging and discharging work, and the solar charging and discharging module does not influence the charging and discharging process.
The spatial data preprocessing platform comprises a main control module and a universal peripheral equipment interface module; the multimode IOT communication module integrates NB-IoT and 5G NR communication capabilities and comprises a radio frequency core module and an antenna, wherein the radio frequency core module is internally packaged with NB-IoT and 5G NR integrated modules which are used for mutual communication stability backup;
the main control module is respectively connected with the radio frequency core module and the universal peripheral equipment interface module through wires;
the main control module is used for receiving and storing inertial attitude data and differential data acquired by the inertial navigation positioning sensing monitoring device and the Beidou satellite monitoring point equipment, and transmitting the preprocessed data to the radio frequency core module after preprocessing the data and when the data needs to be transmitted to the outside;
the Universal peripheral equipment interface module comprises a USIM interface, a UART (Universal Asynchronous Receiver/Transmitter) serial port and an ADC (Analog to Digital Converter) interface;
the USIM interface is used for installing an operator Internet of things card; the UART serial port is used for communicating with the inertial navigation positioning sensing monitoring device to detect data; the ADC interface is used for being connected with an ADC converter in the inertial navigation positioning sensing monitoring device;
the main control module comprises a main controller, a Joint Test Action Group (JTAG) interface, a Read-Only Memory (ROM), a flash Memory and a Static Random-Access Memory (SRAM) which are connected by a lead;
the main controller adopts a low-power processor and is used for controlling the work and the signal processing of the main control module; the JTAG interface is used for debugging the main control module; the ROM stores a program of the main control module; the flash memory stores internal and external data of the main control module; the SRAM is used for accessing serial data in the main control module;
the radio frequency core module is internally packaged with NB-IoT and 5G NR integrated modules which are connected together and are used for mutual communication stability backup, and the radio frequency core module comprises a digital phase-locked loop, a DSP modem, an SRAM, a ROM and an amplifier, wherein the amplifier is connected with an antenna;
the digital phase-locked loop is used for realizing the modulation of an input signal; the DSP modem is responsible for carrying out digital signal processing on the transmitting and receiving signals of the communication of the Internet of things; the SRAM is used for accessing wireless communication serial data; the ROM stores a program of a radio frequency core module; the amplifier is used for carrying out power amplification on the radio-frequency signal;
the radio frequency core module is used for receiving data transmitted by the main control module when the data needs to be transmitted outwards and transmitting the data outwards through the antenna;
the antenna adopts a multi-frequency antenna with the model of AC-Q7035-N4, can meet the working environment of-40 to 80 ℃, is used for sending the preprocessing signal to a communication base station and transmitting the preprocessing signal to a background, and receives remote control information transmitted by the background data monitoring platform through a multi-mode network with NB-IoT and 5G NR serving as backups for each other; the preprocessing signal is a processing signal of the original tower deformation data acquired by the Beidou satellite monitoring point equipment and the inertial navigation positioning sensing monitoring device through the main control module.
The inertial navigation positioning sensing monitoring device comprises a sensor monitoring unit, a sensor interface module and a coprocessor module;
the sensor monitoring unit comprises an attitude reference system, an inertial measurement unit and a calculation unit;
the attitude reference system is used for initializing attitude reference of the measurement data of the inertial navigation positioning sensing monitoring device;
the inertial measurement unit is used for measuring tower deformation data by the inertial navigation positioning sensing monitoring device;
the resolving unit is used for preprocessing the tower deformation data measured by the inertial navigation positioning sensing monitoring device and then carrying out attitude estimation;
the sensor interface module comprises a sensor controller, an ADC and a comparator;
the sensor controller is used for sensing the working state of an inertial sensor in the inertial navigation positioning sensing monitoring device;
the ADC is used for converting and cleaning the detection data of the inertial navigation positioning sensing monitoring device;
the comparator is used for judging the voltage in the power management module;
the coprocessor module comprises a ROM, an SRAM and a coprocessor;
the ROM stores programs of the coprocessor module; the SRAM is used for accessing serial data in the coprocessor module; the coprocessor is a core processing unit of the coprocessor module;
the coprocessor module is respectively connected with the sensor monitoring unit, the universal peripheral interface module and the sensor interface module, processes inertial navigation positioning sensing monitoring device interaction data connected with the multimode Internet of things communication module, and performs clock synchronization management.
The sensor monitoring unit is developed by using an MEMS inertial sensor;
the solar cell adopts an energy-efficient perovskite cell;
the energy storage battery pack adopts an industrial 18650 lithium titanate battery pack.
The master control module is developed by adopting an MSP430F169 microcontroller of TI company.
The background data monitoring platform comprises a background server and is used for operating inertial navigation and satellite differential fusion positioning software.
The Beidou satellite monitoring point equipment and the inertial navigation positioning sensing monitoring device are fixed on a monitored rod body through galvanized U-shaped bolts, and Beidou satellite monitoring data and attitude data acquired by an MEMS (Micro-Electro-Mechanical System) inertial sensor are original data used for calculating tower foundation settlement, tower inclination angle, structural wind load analysis and other tower health states; the multimode IOT communication Module is connected with the spatial data preprocessing platform, original data are transmitted to the multimode IOT communication Module through a sensor interface of the measuring device and a Universal peripheral device interface Module of the communication Module, the multimode IOT communication Module is communicated with the spatial data preprocessing platform through an interface connected with a lead, and the transparently transmitted original data are transmitted to the outside through a Universal Subscriber Identity Module (USIM) interface and a radio frequency core Module after being preprocessed by the spatial data preprocessing platform of which the main control Module is an MSP430F169 microcontroller; the background data monitoring platform is connected with the spatial data preprocessing platform and is used for performing background fusion processing on data sent after front-end preprocessing, the background server has strong computing capacity and can efficiently finish a large amount of data returned by the embedded system, and a final accurate result is obtained through inertial navigation and resolving of satellite differential fusion positioning software; the solar battery is connected with the power management module and used for supplying power to Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform in the monitoring device, and the unattended automatic monitoring time is prolonged by using a high-performance and high-safety industrial 18650 lithium titanate battery pack and a third-generation perovskite solar battery with high photoelectric conversion efficiency in combination with the use of low-power-consumption devices, chips and modules; the input and output panel is used for manual control during equipment installation, debugging and maintenance, and can indicate the current working state of the tower deformation monitoring device through the LED lamp.
The external electric interface is connected with an external power supply and supplies power to the load when the solar power supply is insufficient or the energy storage battery pack cannot work; therefore, the standby time and the service time of the device can be prolonged, and the uninterrupted operation is realized.
The solar cell adopts a third-generation perovskite solar cell, and has high photoelectric conversion efficiency, high efficiency and high safety; the energy storage battery pack is characterized in that an industrial 18650 lithium titanate battery pack with high performance and high safety suitable for outdoor environment is used; the time of unattended automatic monitoring is prolonged by combining the use of low-power-consumption devices, chips and modules.
After the signal is preprocessed and transmitted to the radio frequency core module, the main control module enters a sleep state until new data or other awakening instructions are received next time, and therefore power consumption of the spatial data preprocessing platform can be greatly reduced.
Furthermore, the sensor controller is used for sensing the working state of the sensor, and if no signal acquisition is carried out, the multi-mode internet of things communication module is controlled to automatically enter a sleep state, so that the power consumption of the multi-mode internet of things communication module is reduced.
The sensor monitoring unit is developed by adopting a nine-axis MEMS inertial sensor MPU9250 of InvenSense company, a 16-bit high-precision ADC and a digital motion processor are integrated inside, and complete nine-axis sensor fusion calculation data can be directly output outwards, so that attitude calculation is conveniently realized; the sensor has the main advantages of small volume, light weight, low power consumption, high reliability, high sensitivity, easy integration and the like, is the main force of a micro sensor, and has the tendency of replacing the traditional mechanical sensor.
Example 1
As shown in fig. 1a, the hardware of this embodiment includes a Beidou satellite monitoring point device, an inertial navigation positioning sensing monitoring device, a spatial data preprocessing platform, a multi-mode internet of things communication module, a solar battery, a power management module, an input/output panel, and a background data monitoring platform. And the Beidou satellite monitoring data and tower deformation fusion data collected by the inertial navigation positioning sensing monitoring device are forwarded to a space data preprocessing platform in wired connection for preprocessing through the multimode Internet of things communication module. The transparently transmitted original data is preprocessed by a spatial data preprocessing platform of which the main control module is an MSP430F169 microcontroller, and then is transmitted to the outside through a USIM interface and a radio frequency core module. The solar battery is connected with the power management module and used for supplying power to the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform in the monitoring device. The input and output panel is used for manual control during equipment installation, debugging and maintenance, and can indicate the current working state of the monitoring device through the LED lamp. The background data monitoring platform is connected with the spatial data preprocessing platform and used for carrying out fusion processing on data sent after front-end preprocessing, the background server has strong computing capacity and obtains a final accurate result of tower deformation through calculation of fusion positioning software after checking inertial navigation data measured by the inertial navigation positioning sensing monitoring device and satellite differential data measured by Beidou satellite monitoring point equipment. In fig. 1a, the solid black arrows indicate current flow, the dashed arrows indicate control command flow, and the hollow arrows indicate data signal flow.
Specifically, in the embodiment, the Beidou satellite monitoring point equipment uses a Beidou third satellite receiver and a satellite receiving antenna, the inertial navigation positioning sensing monitoring device is developed by adopting an MEMS nine-axis gyroscope, and the equipment is fixed on a monitored rod body through a galvanized U-shaped bolt so as not to be influenced by vibration, sliding, abrasion and the like; the multi-mode internet of things communication module adopts a wireless communication module which is connected with an RG500Q 5G NR module through a BC28 NB-IoT module, can be installed in a split or combined mode with Beidou satellite monitoring point equipment, and does not affect good receiving and sending of signals. As shown in fig. 1b, in the embodiment, if the main hardware module is used for joint installation, the multi-mode internet of things communication module, the power management module, the Beidou satellite monitoring point device and the inertial navigation positioning sensing monitoring device can be integrated into a cuboid box suitable for the external environment, so that the requirements of heat dissipation, insulation, installation of the solar cell panel, stability of radio frequency signals and the like of the device are met, and the device is fixed on a monitored rod body through a galvanized U-shaped bolt.
As shown in fig. 2, the power management module of this embodiment adopts an external power supply and a solar power supply to supply power at the same time, which is beneficial to reducing the influence of power failure on the device. The power management module has a structure shown in fig. 2, and is composed of a solar charging and discharging circuit, a solar charging and discharging controller, a solar interface, a lithium battery pack interface, a load interface, an external electrical interface, a solar battery and an energy storage battery pack. Solar cell and solar energy interface connection, lithium cell group interface and energy storage battery group are connected, and lithium cell group interface still is equipped with the interface that is used for being connected with outside charging source and charge-discharge test, load interface and external electric interface connection. The solar charge-discharge controller controls the solar charge-discharge circuit to work; the external electric interface is connected with an external power supply and can supply power to the load and charge the energy storage battery pack; the solar battery charges the energy storage battery pack through the solar charging and discharging circuit; the energy storage battery pack supplies power to equipment connected with the load interface through the lithium battery pack interface and receives control signals of the input and output panel. The solar charging and discharging processes are independently carried out, so that the power consumption can be greatly reduced, and the service life is further prolonged.
Specifically, fig. 3 is a diagram of a reverse connection protection circuit for an energy storage battery pack of a solar charging controller in a power management module according to the present embodiment, where a diode plays a role in reverse connection protection of the energy storage battery pack, and when the polarity is reversed, a fuse is blown, thereby avoiding a safety accident caused by damage to the rest of the circuit.
Specifically, the charging method of the solar charging and discharging circuit is as shown in fig. 4, the filtering unit is composed of a single-phase bridge rectifier circuit D and an inductance L filtering circuit, the single-phase bridge rectifier circuit D has the function of ensuring that the solar battery can be charged to the energy storage battery pack all the time, and the energy storage battery pack cannot discharge the solar battery, and meanwhile, the unstable current condition of the circuit when the light suddenly changes or the circuit is reversely connected with the energy storage battery pack is avoided.
Specifically, the discharging method of the solar charging and discharging circuit is shown in fig. 5, and a two-stage charging protection device is adopted to prevent the damage of the battery or the electronic element caused by the sudden increase of the current. In the primary protection of the process, the main control module (as shown in fig. 6) is used for collecting the voltages of the two sections of the high-precision resistor Rv for a specific time, when the maximum voltage collected and calculated by the ADC meets the set threshold and lasts for 10 seconds, the short circuit is considered, and the main controller controls the Rcd to cut off the discharge loop. The secondary protection is that when the current is judged to be overlarge and not lasting for 10 seconds, the self-recovery fuse PTC control circuit avoids damage, when the current reaches a rated value, the temperature of the self-recovery fuse PTC rises, the resistance sharply increases to inhibit overcurrent, and then the fuse automatically returns to an initial state.
As shown in fig. 6, the spatial data preprocessing platform of the present embodiment includes a main control module and a general peripheral interface module; the multimode Internet of things communication module integrates NB-IoT and 5G NR communication capabilities and comprises a radio frequency core module and an antenna, wherein the radio frequency core module is internally packaged with NB-IoT and 5G NR integrated modules which are used for mutual communication stability backup. The main control module comprises a main controller, a JTAG interface, a ROM, a flash memory and an SRAM which are connected by leads; the radio frequency core module comprises a digital phase-locked loop, a DSP modem, an SRAM, a ROM and an amplifier, wherein the amplifier is connected with an antenna; the antenna is used for sending the preprocessed signal to the communication base station, transmitting the preprocessed signal to the background and receiving the remote control information; the universal peripheral equipment interface module consists of a USIM interface, a UART serial port and an ADC interface, and is connected with a coprocessor module in the inertial navigation positioning sensing monitoring device (as shown in figure 7).
In this embodiment, the spatial data preprocessing platform and the multi-mode internet of things communication module are connected to each other, and achieve an ultra-low power consumption level through the following autonomous control mode:
(1) the main control module can sense the working state of the sensor, and after signal preprocessing is completed and transmitted to the radio frequency core module, the main control module enters a sleep state until new data or other awakening instructions are received next time, so that the power consumption of the multimode Internet of things communication module and the spatial data preprocessing platform can be greatly reduced. In the sleep state, only the interrupt detection program is operated, and the power consumption is almost negligible. When the sensor is detected to acquire signals, an interrupt instruction is immediately transmitted to the main controller, and the module is awakened to operate.
(2) The radio frequency core module adopts more refined partition management, and separates the receiving, storing and transmitting processes of the tower deformation original data so as to facilitate independent management and operation. After inertial navigation data measured by an inertial navigation positioning sensing monitoring device and satellite differential data measured by Beidou satellite monitoring point equipment are preprocessed through a main control module, the inertial navigation data and the satellite differential data are temporarily stored in a flash memory to be queued, when a group of data reaches a sending condition, a radio frequency core module is triggered to enter a working state from dormancy, the main control module completely sends the data to the radio frequency core module and enters a sleeping state if no other task exists, the preprocessed data are processed through a digital phase-locked loop, a DSP modem and an amplifier, and the signals are transmitted outwards through an antenna.
As shown in fig. 7, the inertial navigation positioning sensing monitoring apparatus of this embodiment includes a sensor monitoring unit, a sensor interface module, and a coprocessor module. The sensor monitoring unit consists of an attitude reference system, an inertia measurement unit and a resolving unit; the sensor interface module consists of a sensor controller, an ADC and a comparator; the coprocessor module consists of a ROM, an SRAM and a coprocessor; the coprocessor module is respectively connected with the sensor monitoring unit, the sensor interface module and the universal peripheral equipment interface module (as shown in fig. 6) through leads, processes the inertial navigation positioning sensing monitoring device interaction data connected with the multimode internet of things communication module, and performs clock synchronization management.
Specifically, in this embodiment the utility model discloses an be used to lead location sensing monitoring devices uses ultralow power consumption coprocessor, MEMS inertial sensor and high accuracy ADC, and highly integrated's circuit makes the signal receive external interference greatly reduced, and the treatment effeciency promotes, and stability strengthens. As shown in fig. 8, the data actually measured by the apparatus of the present embodiment is shown.
The utility model provides a fuse thing networking shaft tower deformation monitoring devices of big dipper and inertial navigation positioning technology, the method and the way that specifically realize this technical scheme are many, above only the utility model discloses a preferred embodiment should point out, to the ordinary technical personnel of this technical field, is not deviating from the utility model discloses under the prerequisite of principle, can also make a plurality of improvements and moist decorations, these improve and moist decorations should also regard as the utility model discloses a protection scope. All the components not specified in the present embodiment can be realized by the prior art.
Claims (10)
1. An Internet of things tower deformation monitoring device integrating Beidou and inertial navigation positioning technologies is characterized by comprising Beidou satellite monitoring point equipment, an inertial navigation positioning sensing monitoring device, a spatial data preprocessing platform, a multi-mode Internet of things communication module and a power supply management module;
the Beidou satellite monitoring point equipment is arranged on the measured object, and the Beidou satellite monitoring point equipment positions the measured object according to measured satellite differential data, wherein the measured object comprises a tower;
the inertial navigation positioning sensing monitoring device is arranged on the measured object and is used for acquiring inertial attitude data of the measured object;
the spatial data preprocessing platform is respectively connected with Beidou satellite monitoring point equipment, an inertial navigation positioning sensing monitoring device and a multi-mode Internet of things communication module;
the multi-mode Internet of things communication module comprises a radio frequency core module and an antenna, wherein NB-IoT and 5G NR integrated modules are packaged in the radio frequency core module, the NB-IoT and 5G NR integrated modules are a BC28 NB-IoT module and an RG500Q 5G NR module respectively, and the BC28 NB-IoT module and the RG500Q 5G NR module are connected to form a wireless communication module;
the multimode Internet of things communication module and the Beidou satellite monitoring point equipment are installed in a split or combined mode;
the power management module is respectively connected with the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform and supplies power to the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device and the spatial data preprocessing platform.
2. The apparatus of claim 1, wherein the inertial navigation position sensing monitoring device comprises an inertial sensor.
3. The apparatus of claim 2, wherein the Beidou satellite monitoring point equipment comprises a satellite receiver and a satellite receiving antenna; the satellite receiver is used for receiving and processing Beidou No. three satellite positioning data; the satellite receiving antenna is used for gathering satellite signals to improve the quality of received signals.
4. The device according to claim 3, further comprising an input and output panel, wherein the input and output panel is respectively connected with the Beidou satellite monitoring point device, the inertial navigation positioning sensing monitoring device and the power management module, and is used for controlling the Internet of things pole and tower deformation monitoring device and indicating the current working state of the Internet of things pole and tower deformation monitoring device through the intelligent terminal.
5. The device of claim 4, wherein the power management module comprises a solar charging and discharging circuit, a solar charging and discharging controller, a solar interface, a lithium battery pack interface, a load interface, an external electrical interface, a solar battery, a two-stage power protection device, and an energy storage battery pack;
the solar charging and discharging circuit is connected with the solar charging and discharging controller, the solar charging and discharging circuit is a single-phase bridge rectifier circuit, and the single-phase bridge rectifier circuit is connected with the solar battery and the energy storage battery pack and is positioned at the charging end of the energy storage battery pack; the discharge end of the energy storage battery pack is connected with the two-stage electric protection device;
the solar charge and discharge controller is used for controlling the solar charge and discharge circuit to work;
one end of the solar interface is connected with the solar battery, and the other end of the solar interface is connected with the solar charging and discharging circuit;
the solar battery charges the energy storage battery pack through the solar charging and discharging circuit;
the lithium battery pack interface is connected with the energy storage battery pack and is also provided with an interface for connecting with an external charging power supply;
one end of the load interface is connected with an external electrical interface, and the other end of the load interface is connected with the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device, the spatial data preprocessing platform and the input/output panel;
the external electric interface is respectively connected with an external power supply and a load interface and can charge a load and the energy storage battery pack;
the solar battery is used for energy conversion and supplying power to the solar charging and discharging circuit through the solar interface;
the energy storage battery pack supplies power to equipment connected with the load interface through the lithium battery pack interface and receives control signals of the input and output panel.
6. The device as claimed in claim 5, wherein the solar charging and discharging circuit and the solar charging and discharging controller constitute a solar charging and discharging module, the solar charging and discharging module can independently perform charging and discharging operations at the same time, and the solar charging and discharging module does not affect the charging and discharging operations.
7. The apparatus of claim 6, wherein the spatial data pre-processing platform comprises a main control module and a universal peripheral interface module;
the main control module is respectively connected with the radio frequency core module and the universal peripheral equipment interface module through wires;
the main control module is used for receiving and storing inertial attitude data and differential data acquired by the inertial navigation positioning sensing monitoring device and the Beidou satellite monitoring point equipment, and transmitting the preprocessed data to the radio frequency core module after preprocessing the data and when the data needs to be transmitted to the outside;
and the radio frequency core module is used for receiving the data transmitted by the main control module when the data needs to be transmitted outwards and transmitting the data outwards through the antenna.
8. The device of claim 7, wherein the solar cell is a perovskite cell.
9. The device of claim 8, wherein the energy storage battery pack is an industrial 18650 lithium titanate battery pack; the RG500Q 5G NR module contains a high traffic company X555G modem.
10. The device of claim 9, wherein the Beidou satellite monitoring point equipment, the inertial navigation positioning sensing monitoring device, the multi-mode Internet of things communication module and the power management module are integrated in a cuboid box, and the cuboid box is fixed on an object to be measured through a galvanized U-shaped bolt.
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| CN113847896A (en) * | 2021-08-19 | 2021-12-28 | 天津市普迅电力信息技术有限公司 | Pole tower displacement monitoring device and monitoring method based on Beidou RTK and gyroscope |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113847896A (en) * | 2021-08-19 | 2021-12-28 | 天津市普迅电力信息技术有限公司 | Pole tower displacement monitoring device and monitoring method based on Beidou RTK and gyroscope |
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