WO2022183607A1 - 滑坡灾害监测设备 - Google Patents

滑坡灾害监测设备 Download PDF

Info

Publication number
WO2022183607A1
WO2022183607A1 PCT/CN2021/097122 CN2021097122W WO2022183607A1 WO 2022183607 A1 WO2022183607 A1 WO 2022183607A1 CN 2021097122 W CN2021097122 W CN 2021097122W WO 2022183607 A1 WO2022183607 A1 WO 2022183607A1
Authority
WO
WIPO (PCT)
Prior art keywords
landslide
landslide disaster
monitoring device
disaster monitoring
frequency
Prior art date
Application number
PCT/CN2021/097122
Other languages
English (en)
French (fr)
Inventor
李宏祥
张鸣之
赵康德
湛兵
陈林
徐恩强
何伟
张长义
韩冰
黄喆
Original Assignee
上海华测导航技术股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海华测导航技术股份有限公司 filed Critical 上海华测导航技术股份有限公司
Publication of WO2022183607A1 publication Critical patent/WO2022183607A1/zh

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C9/00—Measuring inclination, e.g. by clinometers, by levels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications

Definitions

  • the embodiments of the present application relate to the technical field of geological disaster monitoring, for example, to a landslide disaster monitoring device.
  • Landslide refers to the soil or rock mass on the slope, which is affected by river erosion, groundwater activity, rainwater immersion, earthquake and artificial slope cutting. The unfavorable geological phenomenon in which the ground slides down the slope. Landslides often cause huge losses to industrial and agricultural production as well as people's lives and properties, and sometimes even catastrophic disasters. Therefore, monitoring and early warning of landslides is particularly important for effectively reducing economic losses and casualties.
  • GNSS Global Navigation Satellite System
  • the embodiment of the present application provides a landslide disaster monitoring device, which is set at a landslide monitoring point.
  • the landslide disaster monitoring device includes a host and an inertial sensor.
  • the host includes a positioning module and a processor.
  • the inertial sensor and positioning The modules are respectively connected with the processor;
  • the inertial sensor is used to collect the acceleration of the landslide disaster monitoring device and the angle between the landslide disaster monitoring device and the landslide monitoring point in real time, and send them to the processor;
  • the positioning module configured to collect the location information of the landslide disaster monitoring equipment at a first frequency, and send it to the processor;
  • the processor is configured to detect that the acceleration of the landslide disaster monitoring device is less than or equal to the first set threshold within a set time, and the angle between the landslide disaster monitoring device and the landslide monitoring point is less than or equal to Set the second threshold value, control the positioning module to collect the location information of the landslide disaster monitoring device at the second frequency; and compare the location information, acceleration, and the landslide disaster monitoring device with the The included angle of the landslide monitoring point is sent to the background terminal for display; the second frequency is smaller than the first frequency.
  • FIG. 2 is a schematic diagram of the installation position of a landslide disaster monitoring device provided in Embodiment 1 of the present application;
  • FIG. 3 is a schematic diagram of interaction between a background terminal and a landslide disaster monitoring device provided in Embodiment 3 of the present application;
  • FIG. 4 is a structural diagram of a host provided in Embodiment 3 of the present application.
  • FIG. 1 is a structural diagram of a landslide disaster monitoring device provided in Embodiment 1 of the application.
  • This embodiment is applicable to monitoring a landslide body to determine whether there is a landslide disaster.
  • the landslide disaster monitoring equipment can be set on a landslide monitoring point, and the landslide monitoring point is a point on the landslide body.
  • the landslide mass is usually one area when a landslide disaster occurs, it is possible to select multiple landslide monitoring points in the landslide mass with potential landslide hazards, and set up a landslide disaster monitoring device at each landslide monitoring point to improve the comprehensiveness of monitoring. .
  • the landslide disaster monitoring equipment 1 may include a host computer 11 and an inertial sensor 12.
  • the host computer 11 includes a positioning module 112 and a processor 111.
  • the inertial sensor 12 and The positioning modules 112 are respectively connected with the processor 111;
  • the inertial sensor 12 is used to collect the acceleration of the landslide disaster monitoring device 1 and the included angle between the landslide disaster monitoring device 1 and the landslide monitoring point A (not shown in FIG. 1 ) in real time, and send them to the processor 111;
  • the positioning module 112 is used to collect the position information of the landslide disaster monitoring device 1 at the first frequency and send it to the processor 111;
  • the processor 111 is used for the set time if the acceleration of the landslide disaster monitoring device 1 is detected to be less than or equal to the first set threshold, and the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A is less than or equal to the second set value If the threshold value is exceeded, the positioning module 112 is controlled to collect the position information of the landslide disaster monitoring device 1 at the second frequency; and the position information, the acceleration of the landslide disaster monitoring device 1 and the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A are sent to the background
  • the terminal 2 is displayed by the background terminal 2; the second frequency is smaller than the first frequency.
  • FIG. 2 takes the inertial sensor 12 installed outside the host 11 as an example.
  • the landslide body shown in Figure 2 is taken as an example to be horizontal. In practical application, it forms a certain angle with the horizontal plane.
  • the inertial sensor 12 can use a micro-electromechanical system (Micro-Electro-Mechanical System, MEMS) or an inertial measurement unit (Inertial Measurement Unit, IIMU), of course, other types of inertial sensors 12 can also be used, as long as the landslide disaster monitoring equipment 1 can be monitored.
  • MEMS Micro-Electro-Mechanical System
  • IIMU Inertial Measurement Unit
  • other types of inertial sensors 12 can also be used, as long as the landslide disaster monitoring equipment 1 can be monitored.
  • the acceleration and the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A are sufficient.
  • the inertial sensor 12 can collect the acceleration of the landslide disaster monitoring device 1 and the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A in real time, and can also collect at a certain frequency, considering the low power consumption of the inertial sensor 12.
  • the embodiment takes the real-time data collection by the iner
  • the positioning module 112 can use a Global Navigation Satellite System (GNSS), with high precision, so that the location information of the landslide disaster monitoring device 1 can be accurately measured.
  • GNSS Global Navigation Satellite System
  • the traditional method always keeps the positioning module 112 continuously working at a higher frequency, that is, when no disaster occurs, the positioning module 112 continues to work at a higher frequency, which not only generates greater power It also increases the battery requirements. For example, when the battery capacity is insufficient, it is easy to cause the landslide monitoring point A to feed power. When the battery capacity configuration is too large, it will increase the cost.
  • the positioning module 112 can be made to work at a lower frequency, and there is no need to keep the positioning module 112 in a high-frequency working state, thereby reducing power consumption and reducing power consumption. Battery requirements and investment costs.
  • the processor 111 is configured to determine whether there is a landslide disaster risk at the landslide monitoring point A based on the data collected by the inertial sensor 12, and determine whether to adjust the operating frequency of the positioning module 112, thereby realizing automatic monitoring and adjustment of the operating frequency of the positioning module 112. For example, when the processor 111 detects that the acceleration of the landslide disaster monitoring device 1 is less than or equal to the first set threshold, and the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A is less than or equal to the second set threshold, it is considered that the landslide monitoring There is no landslide disaster risk at point A, otherwise, it is considered that there is a landslide disaster risk at landslide monitoring point A.
  • the magnitudes of the first set threshold and the second set threshold may be determined according to the installation position of the landslide disaster monitoring device 1 .
  • the processor 111 determines that there is no landslide disaster risk at the landslide monitoring point A, it can control the positioning module 112 to operate at a lower frequency, which is recorded as the second frequency in the embodiment, and the second frequency is lower than the first frequency.
  • the processor 111 determines that there is a landslide disaster risk at the landslide monitoring point A, it can control the positioning module 112 to work at a higher frequency to improve the timeliness of response and reduce losses caused by the landslide disaster.
  • the first frequency is the frequency when the positioning module 112 initially works. For example, the unit may be days.
  • the processor 112 may control the positioning module 112 to work continuously for a period of time at the first frequency, for example, it may work continuously for 1 hour. If the processor 111 determines that there is no landslide disaster at the landslide monitoring point A within the 1 hour Risk, the positioning module 112 can be controlled to operate at the second frequency, thereby reducing power consumption.
  • the size of the first frequency and the second frequency can be set according to the actual situation, for example, the first frequency can be set to 15s, that is, the positioning module 112 collects the acceleration of the landslide disaster monitoring device 1 and the landslide disaster monitoring device 1 and the landslide monitoring point every 15s. Angle of A.
  • the second frequency may be 0, that is, if the processor 111 determines that there is no risk of landslide disaster at the landslide monitoring point A within the past 1 hour, the processor 111 may control the positioning module 112 to stop working. If no landslide disaster occurs on that day, the positioning module 112 only needs to work continuously for 1 hour throughout the day, especially when the landslide disaster monitoring device 1 is in year-round monitoring, the power consumption can be significantly reduced.
  • the processor 111 can also preprocess the data collected by the inertial sensor 12 and the positioning module 112, such as filtering, noise reduction, etc. data accuracy. After preprocessing, it can be sent to the background terminal 2 for display, so that the users in the background can understand the data of the landslide monitoring point A without going to the scene.
  • the background terminal 2 may be an intelligent device such as a computer and a platform server.
  • the first embodiment of the present application provides a landslide disaster monitoring device, which is set at a landslide monitoring point.
  • the landslide disaster monitoring device includes a host and an inertial sensor.
  • the host includes a positioning module and a processor.
  • the inertial sensor and positioning The modules are respectively connected with the processor; the inertial sensor is used to collect the acceleration of the landslide disaster monitoring device and the angle between the landslide disaster monitoring device and the landslide monitoring point in real time, and send them to the processor ;
  • the positioning module is used to collect the location information of the landslide disaster monitoring equipment at the first frequency and send it to the processor; the processor is used to monitor the landslide disaster monitoring within a set time If the acceleration of the device is less than or equal to the first set threshold, and the angle between the landslide disaster monitoring device and the landslide monitoring point is less than or equal to the second set threshold, the positioning module is controlled to collect the the location information of the landslide disaster monitoring equipment
  • the landslide disaster monitoring device 1 is affected by occlusion or interference, and is prone to false alarms, thereby affecting the user's judgment.
  • data collected by the inertial sensor 12 and the positioning module 112 can be used to verify the inertial sensor 12 and the positioning module 112 to reduce the probability of false alarms.
  • the verification of the inertial sensor 12 and the positioning module 112 can be performed by the processor 111 or by the background terminal 2 .
  • the processor 111 is further configured to detect that the acceleration of the landslide disaster monitoring device 1 is greater than the first set threshold, or if the landslide disaster monitoring device 1 and the If the included angle of the landslide monitoring point A is greater than the second set threshold, the positioning module 112 is controlled to collect the position information of the landslide disaster monitoring device 1 at a third frequency, and the third frequency is greater than the first frequency;
  • the background terminal 2 is also used for early warning of landslide disasters based on the received trigger flag information.
  • the processor 111 can control the positioning module 112 to collect the position information of the landslide disaster monitoring device 1 at a higher frequency, thereby realizing the automatic adjustment of the working frequency, The timeliness of the response is improved, and the embodiment records the frequency as the third frequency.
  • the location information of the landslide disaster monitoring device 1 can be further compared. If the position of the landslide disaster monitoring device 1 remains unchanged or changes little within the set time, it is considered that the location information of the landslide disaster monitoring device 1 does not meet the requirements of the set time.
  • the processor 111 can mark the falsely reported data, and when sending it to the background terminal 2, it can be easily viewed by the background user. After receiving the marked false positive data, the background terminal 2 can delete the false positive data to prevent it from causing unnecessary interference to the background user, and can also retain it to maintain the integrity of the data. If the position of the landslide disaster monitoring device 1 changes greatly within the set time, that is, it is considered that the location information of the landslide disaster monitoring device 1 meets the set conditions, and it is considered that the landslide monitoring point A has a landslide disaster risk, which can be sent to the background terminal 2. Trigger the flag bit information to indicate that there is a landslide disaster risk at the landslide monitoring point A of the background terminal 2. The embodiment does not limit the specific form of the trigger flag bit information.
  • the background terminal 2 After receiving the trigger flag information, the background terminal 2 carries out a landslide disaster warning to remind the background user that the landslide monitoring point A has a landslide disaster risk.
  • the embodiment does not limit the specific manner of the early warning.
  • the background user may be prompted that there is a landslide disaster risk at the landslide monitoring point A by means of a signal indicator light, a buzzer, and/or voice.
  • the above solution can not only effectively reduce the probability of false alarms, but also remind users in time when there is a landslide disaster risk at the landslide monitoring point A, thereby reducing losses caused by landslide disasters.
  • the processor 111 is further configured to detect that the change in the location information of the landslide disaster monitoring device 1 satisfies the set condition, if the landslide occurs within the corresponding time
  • the acceleration of the disaster monitoring device 1 is less than or equal to the first set threshold and the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A is less than or equal to the second set threshold, then it is determined that the positioning module 112 is a false alarm, and the false alarm is detected.
  • the location information is marked; otherwise, the trigger flag bit information is sent to the background terminal 2;
  • the background terminal 2 is also used for early warning of landslide disasters based on the received trigger flag information.
  • the processor 111 detects that the position of the landslide disaster monitoring device 1 changes greatly, it can further combine the data of the inertial sensor 12 to determine whether the positioning module 112 makes a false alarm. For example, if the acceleration of the landslide disaster monitoring device 1 or the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A is small within the corresponding time period, the positioning module 112 is considered to have made a false alarm. mark and send it to the background terminal 2.
  • the trigger flag position information can be sent to the background terminal 2.
  • make the background terminal 2 give an early warning based on the trigger flag bit information. For other details, reference may be made to the verification of the inertial sensor 12 , which will not be repeated here.
  • the processor 111 is further configured to detect that the acceleration of the landslide disaster monitoring device 1 is greater than the first set threshold, or the landslide disaster monitoring device 1 and the If the included angle of the landslide monitoring point A is greater than the second set threshold, the positioning module 112 is controlled to collect the location information of the landslide disaster monitoring device 1 at the third frequency; frequency;
  • the processor 111 mainly automatically adjusts the operating frequency of the positioning module 112 based on the data collected by the inertial sensor 12 and reports the received acceleration, angle and position information to the background terminal 2 . If the processor 111 detects that the acceleration of the landslide disaster monitoring device 1 is greater than the first set threshold, or the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A is greater than the second set threshold, it is considered that there is a landslide disaster at the landslide monitoring point A risk, and control the positioning module 112 to work at the third frequency, and send the trigger flag bit information to the background terminal 2 at the same time.
  • the trigger flag information sent by the processor 111 may contain false alarms, that is, in this example, as long as the processor 111 monitors the acceleration of the landslide disaster monitoring device 1 and the clip between the landslide disaster monitoring device 1 and the landslide monitoring point A, When any one of the angles exceeds the threshold, the trigger flag bit information can be sent to the background terminal 2 . In this case, if the processor 111 monitors that the position of the landslide disaster monitoring device 1 remains unchanged or changes little within a period of time, it can also automatically cancel sending the trigger flag information to the background terminal 2 .
  • the processor 111 controls the positioning module 112 to work at the third frequency, which may be the processor 111 controls the positioning module 112 to switch from the first frequency to the third frequency to work, that is, before the processor 111 considers that the landslide monitoring point A has a landslide disaster risk
  • the positioning module 112 operates at the first frequency. It is also possible that the processor 111 controls the positioning module 112 to switch from the second frequency to the third frequency. Taking the second frequency as 0 as an example, that is, the positioning module 112 has stopped working before the landslide disaster risk occurs, and the positioning module needs to be restarted at this time. 112 to make it work at the third frequency to ensure the timeliness of the response.
  • the background terminal 2 After the background terminal 2 receives the data sent by the processor 111, if the change of the position information of the landslide disaster monitoring device 1 within the set time is monitored and does not meet the set condition, then it is determined that the inertial sensor 12 has falsely reported, and the background terminal 2 can Eliminate the triggering flag bit information of the corresponding data to prevent it from causing interference to background users. Otherwise, it is considered that there is indeed a landslide disaster risk, and a landslide disaster warning is carried out.
  • the background terminal 2 is also used to detect that the change in the location information of the landslide disaster monitoring device 1 satisfies the set condition, if the The acceleration of the disaster monitoring device 1 is less than or equal to the first set threshold and the angle between the landslide disaster monitoring device 1 and the landslide monitoring point A is less than or equal to the second set threshold, then it is determined that the positioning module 112 is a false alarm, and the false alarm is detected.
  • the location information is marked, otherwise, the landslide disaster warning is carried out.
  • the verification process of the positioning module 112 by the background terminal 2 is similar to that of the processor 111 , and details are not repeated here.
  • the occurrence of false alarms caused by the influence of factors such as occlusion or interference of the landslide disaster monitoring device 1 can be effectively avoided, and the probability of false alarms is reduced.
  • landslide monitoring points are included as an example.
  • landslide disaster monitoring devices which are respectively denoted as landslide disaster monitoring device A1, landslide disaster monitoring device A2, and landslide disaster monitoring device A3.
  • landslide disaster monitoring equipment is independent of each other. Since landslide disasters usually correspond to an area, not just a certain point, traditional methods cannot effectively monitor the landslide mass, and thus cannot take effective measures.
  • the landslide disaster monitoring equipment can communicate with each other in a wired manner, for example, through RS-485 or RS-422 communication cable.
  • wireless communication can be used between the landslide disaster monitoring devices, for example, communication can be performed through a long-range radio (Long Range Radio, Lora) module.
  • Lora Long Range Radio
  • the background terminal when the background terminal determines that a landslide disaster occurs at the landslide monitoring point where one of the landslide disaster monitoring devices is located, it sends a linkage instruction to the other landslide disaster monitoring devices, so that the positioning modules of the other landslide disaster monitoring devices use the third frequency Collect the location information of landslide disaster monitoring equipment and report it to the background terminal.
  • the background terminal when it determines that a landslide disaster occurs at the landslide monitoring point where the landslide disaster monitoring device A1 is located, it can synchronously send a linkage command to the landslide disaster monitoring device A2 and the landslide disaster monitoring device A3, so that the landslide disaster monitoring device A2 and the landslide disaster monitoring device A3 collects the location information of landslide disaster monitoring equipment at the third frequency, and reports it to the backend terminal, so that backend users can understand the location information of a certain area of the landslide body and facilitate them to take measures.
  • the landslide disaster monitoring device when a landslide disaster occurs at the landslide monitoring point where one of the landslide disaster monitoring devices is located, the landslide disaster monitoring device sends a linkage instruction to the other landslide disaster monitoring devices, so that the positioning modules of the other landslide disaster monitoring devices can be located in the first Three frequencies collect the location information of the landslide disaster monitoring equipment and report it to the background terminal.
  • FIG. 4 is a structural diagram of a host provided in Embodiment 3 of the present application.
  • the host 11 also includes It includes a communication module 113 connected to the processor 111 for realizing communication with an external terminal.
  • the communication module can communicate with other landslide disaster monitoring devices and also with a background terminal.
  • the communication module 113 in this embodiment includes a mobile communication module 1131 , a Lora module 1132 and a Beidou communication module 1133 as an example, wherein the mobile communication module 1131 may include a 2G, 3G or 4G communication module, and the mobile communication module 1131 may enable the processor 111
  • the received location information of the landslide disaster monitoring device 1 is sent to the background terminal 2 .
  • the mobile communication module 1131 is used to send the location information of the landslide disaster monitoring device 1 to the background terminal 2, a large amount of power consumption will be generated.
  • the above solution is used to monitor the acceleration of the landslide disaster monitoring device 1 and the landslide disaster monitoring device 1 and the When the included angle of the landslide monitoring point A is smaller than the corresponding threshold, the operating frequency of the positioning module 112 is reduced, which can reduce the overall power consumption of the landslide disaster monitoring device 1 .
  • the positioning module 112 is continuously operated at a relatively high frequency for 24 hours, and the power consumption of the entire device is between 2W-5W, or even higher. Using this solution, the power consumption of the entire device can be controlled within 1W. .
  • the Lora module 1132 is used to establish a communication connection between various slope disaster monitoring devices to realize linkage triggering.
  • the Beidou communication module 1133 is used to report the data collected by the inertial sensor 12 to the background terminal 2 .
  • other types of communication modules can also be selected according to actual needs, which are not specifically limited in the embodiment.
  • the narrowband Internet of Things can also be used to establish a communication connection between various devices.
  • the landslide disaster monitoring device 1 further includes an antenna, such as a GNSS antenna 141, a Lora antenna 142, and a 2G, 3G or 4G antenna 143, so as to be respectively the same as the positioning module 112 and the Lora module in FIG. 4 . 1132 is connected to the mobile communication module 1131.
  • an antenna such as a GNSS antenna 141, a Lora antenna 142, and a 2G, 3G or 4G antenna 143, so as to be respectively the same as the positioning module 112 and the Lora module in FIG. 4 . 1132 is connected to the mobile communication module 1131.
  • the landslide disaster monitoring device 1 further includes a power module to supply power to the landslide disaster monitoring device 1 .
  • the embodiment does not limit the structure of the power module, for example, the landslide disaster monitoring device 1 can be powered by solar energy or lithium batteries.
  • the processor 111 or the background terminal 2 when used to verify the inertial sensor 12 and the positioning module 112, it can be implemented in a static solution or a dynamic way. For example, when there is no landslide disaster risk at the landslide monitoring point A, it is possible to determine whether the inertial sensor 12 and the positioning module 112 are misreported by means of static calculation, so as to improve the accuracy of the location information; when the landslide monitoring point A has a landslide disaster risk, The processor 111 or the background terminal 2 can determine whether the inertial sensor 12 and the positioning module 112 are false alarms through dynamic calculation, improve the timeliness of the response, and quickly obtain the location information of the landslide disaster monitoring device 1 .
  • the dynamic solution can use RTK (Real-time kinematic, real-time dynamic) mode, and the corresponding static solution is non-RTK mode.
  • RTK Real-time kinematic, real-time dynamic

Abstract

一种滑坡灾害监测设备(1)，包括主机(11)和惯性传感器(12)，主机(11)内包括定位模块(112)和处理器(111)；惯性传感器(12)实时采集滑坡灾害监测设备(1)的加速度和滑坡灾害监测设备(1)与滑坡监测点的夹角；定位模块(112)以第一频率采集滑坡灾害监测设备(1)的位置信息；处理器(111)设定时间内如果监测到加速度小于或等于第一设定阈值，且夹角小于或等于第二设定阈值，则控制定位模块(112)以第二频率采集滑坡灾害监测设备(1)的位置信息；并将该位置信息、加速度及夹角发送给后台终端(2)，由后台终端(2)进行展示；第二频率小于第一频率。

Description

滑坡灾害监测设备
本申请要求在2021年03月02日提交中国专利局、申请号为202110231409.4的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及地质灾害监测技术领域，例如，涉及一种滑坡灾害监测设备。
背景技术
滑坡是指斜坡上的土体或者岩体，受河流冲刷、地下水活动、雨水浸泡、地震及人工切坡等因素影响，在重力作用下，沿着一定的软弱面或者软弱带，整体地或者分散地顺坡向下滑动的不良地质现象。滑坡常常给工农业生产以及人民生命财产造成巨大损失、有的甚至是毁灭性的灾难。因此对滑坡进行监测和预警，对于有效减少经济损失和人员伤亡显得尤为重要。
目前应用于监测的设备多为全球导航卫星系统(Global Navigation Satellite System，GNSS)，实际应用中为了避免发生滑坡时不漏报，该设备始终以较高的采集频率和上报频率工作，功耗较大。
发明内容
本申请实施例提供一种滑坡灾害监测设备，在进行滑坡灾害监测时可以有效降低功耗。
本申请实施例提供了一种滑坡灾害监测设备，设置于滑坡监测点，所述滑坡灾害监测设备包括主机，还包括惯性传感器，所述主机内包括定位模块和处理器，所述惯性传感器和定位模块分别与所述处理器连接；
所述惯性传感器，用于实时采集所述滑坡灾害监测设备的加速度和所述滑坡灾害监测设备与所述滑坡监测点的夹角，并发送给所述处理器；
所述定位模块，用于以第一频率采集所述滑坡灾害监测设备的位置信息，并发送给所述处理器；
所述处理器，用于设定时间内如果监测到所述滑坡灾害监测设备的加速度小于或等于第一设定阈值，且所述滑坡灾害监测设备与所述滑坡监测点的夹角小于或等于第二设定阈值，则控制所述定位模块以第二频率采集所述滑坡灾害监测设备的位置信息；并将所述滑坡灾害监测设备的位置信息、加速度以及所 述滑坡灾害监测设备与所述滑坡监测点的夹角发送给后台终端，由所述后台终端进行展示；所述第二频率小于所述第一频率。
附图说明
图1为本申请实施例一提供的一种滑坡灾害监测设备的结构图；
图2为本申请实施例一提供的一种滑坡灾害监测设备的安装位置示意图；
图3为本申请实施例三提供的一种后台终端与滑坡灾害监测设备的交互示意图；
图4为本申请实施例三提供的一种主机的结构图。
具体实施方式
在更加详细地讨论示例性实施例之前应当提到的是，一些示例性实施例被描述成作为流程图描绘的处理或方法。虽然流程图将各项操作(或步骤)描述成顺序的处理，但是其中的许多操作可以被并行地、并发地或者同时实施。此外，各项操作的顺序可以被重新安排。当其操作完成时所述处理可以被终止，但是还可以具有未包括在附图中的附加步骤。所述处理可以对应于方法、函数、规程、子例程、子程序等等。此外，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
实施例一
图1为本申请实施例一提供的一种滑坡灾害监测设备的结构图，本实施例可适用于对滑坡体进行监测，以确定其是否存在滑坡灾害的情况。该滑坡灾害监测设备可以设置于滑坡监测点上，滑坡监测点为滑坡体上的一点。考虑到滑坡体发生滑坡灾害时通常是一个区域，因此可以在具有滑坡隐患的滑坡体中选择多个滑坡监测点，并在每个滑坡监测点设置一台滑坡灾害监测设备，提高监测的全面性。各滑坡监测点设置的滑坡灾害监测设备的型号可以相同，参考图1，该滑坡灾害监测设备1可以包括主机11和惯性传感器12，主机11内包括定位模块112和处理器111，惯性传感器12和定位模块112分别与处理器111连接；
惯性传感器12，用于实时采集滑坡灾害监测设备1的加速度和滑坡灾害监测设备1与滑坡监测点A(图1未示出)的夹角，并发送给处理器111；
定位模块112，用于以第一频率采集滑坡灾害监测设备1的位置信息，并发送给处理器111；
处理器111，用于设定时间内如果监测到滑坡灾害监测设备1的加速度小于或等于第一设定阈值，且滑坡灾害监测设备1与滑坡监测点A的夹角小于或等 于第二设定阈值，则控制定位模块112以第二频率采集滑坡灾害监测设备1的位置信息；并将滑坡灾害监测设备1的位置信息、加速度以及滑坡灾害监测设备1与滑坡监测点A的夹角发送给后台终端2，由后台终端2进行展示；第二频率小于第一频率。
本实施例以至少包括两个滑坡监测点A为例，在每一个滑坡监测点A，可以安装一个固定支架，参考图2，图2为本申请实施例一提供的一种滑坡灾害监测设备的安装位置示意图。固定支架13的一端固定在滑坡监测点A，另一端安装滑坡灾害监测设备1的主机11。惯性传感器12的安装位置可以根据实际情况选择，例如可以安装在主机11的内部，将惯性传感器12集成在主机11的内部可以节省外部线缆C，降低安装成本。也可以在主机11上设置一个外置传感器接口B，将惯性传感器12安装在滑坡监测点A所在的滑坡体上，通过线缆C将外置传感器接口B与惯性传感器12连接，实现惯性传感器12与处理器111的连接。现场应用中为了避免遮挡，通常将固定支架13设置的比较高，如果将惯性传感器12安装在主机11内部容易受到杠杆效应的影响，例如当固定支架13的下方受到拍打时，安装在固定支架13上方的主机11震动较大，从而导致惯性传感器12误触发，将惯性传感器12设置在主机11的外部可以减少误触发情况的发生。实际应用时可以根据需要选择合适的安装方式。图2以惯性传感器12安装在主机11外部为例。为了便于绘图，图2所示的滑坡体以水平为例，实际应用时，其与水平面呈一定的夹角。
惯性传感器12可以采用微机电系统(Micro-Electro-Mechanical System，MEMS)或惯性测量单元(Inertial Measurement Unit，IIMU)，当然还可以采用其他类型的惯性传感器12，只要可以监测滑坡灾害监测设备1的加速度以及滑坡灾害监测设备1与滑坡监测点A的夹角即可。实际应用时，惯性传感器12可以实时采集滑坡灾害监测设备1的加速度以及滑坡灾害监测设备1与滑坡监测点A的夹角，也可以按照一定的频率采集，考虑到惯性传感器12的功耗较低，为了防止数据漏报，实施例以惯性传感器12实时采集数据为例。
定位模块112可以采用全球导航卫星系统(Global Navigation Satellite System，GNSS)，精度高，从而可以准确的测量滑坡灾害监测设备1的位置信息。为了防止发生滑坡灾害时数据漏报，传统方式始终保持定位模块112连续以较高的频率工作，即在未发生灾害时，定位模块112依然连续以较高的频率工作，不仅产生较大的功耗，也提高了对电池的要求，例如当电池容量不足时容易造成滑坡监测点A馈电，当电池容量配置过大时，又会增加成本。考虑到滑坡灾害并非持续发生，当未发生滑坡灾害时，可以使定位模块112以较低的频率工作，无需保持定位模块112始终处于高频率的工作状态，从而降低了功耗，也降低了对电池的要求和投资成本。
处理器111用于基于惯性传感器12采集的数据确定滑坡监测点A是否存在滑坡灾害风险，以及确定是否调整定位模块112的工作频率，实现了对定位模块112工作频率的自动监测与调整。例如当处理器111监测到滑坡灾害监测设备1的加速度小于或等于第一设定阈值，且滑坡灾害监测设备1与滑坡监测点A的夹角小于或等于第二设定阈值时，认为滑坡监测点A不存在滑坡灾害风险，否则，认为滑坡监测点A存在滑坡灾害风险。第一设定阈值和第二设定阈值的大小可以根据滑坡灾害监测设备1的安装位置确定。当处理器111确定滑坡监测点A不存在滑坡灾害风险时，可以控制定位模块112以较低的频率工作，实施例将该频率记为第二频率，第二频率小于第一频率。当处理器111确定滑坡监测点A存在滑坡灾害风险时，可以控制定位模块112以较高的频率工作，提高响应的及时性，降低滑坡灾害造成的损失。第一频率为定位模块112初始工作时的频率。例如可以以天为单位，初始时处理器112可以控制定位模块112以第一频率连续工作一段时间，例如可以连续工作1小时，如果处理器111确定这1小时内滑坡监测点A不存在滑坡灾害风险，可以控制定位模块112以第二频率工作，从而降低了功耗。第一频率和第二频率的大小可以根据实际情况设定，例如第一频率可以设置为15s，即定位模块112每15s采集一次滑坡灾害监测设备1的加速度以及滑坡灾害监测设备1与滑坡监测点A的夹角。第二频率可以是0，即如果处理器111确定这1小时内滑坡监测点A不存在滑坡灾害的风险，可以控制定位模块112停止工作。如果当天未发生滑坡灾害，则定位模块112全天只需连续工作1小时，尤其是当滑坡灾害监测设备1处于全年监测时，可以明显降低功耗。
处理器111除了可以基于惯性传感器12采集的数据调整定位模块112的工作频率，还可以对惯性传感器12和定位模块112采集的数据进行预处理，例如可以对其进行滤波、降噪等处理，提高数据的准确性。预处理之后可以发送给后台终端2，由后台终端2进行展示，从而可以使后台的用户无需去现场即可了解滑坡监测点A的数据。后台终端2可以是计算机、平台服务器等智能设备。
本申请实施例一提供一种滑坡灾害监测设备，设置于滑坡监测点，所述滑坡灾害监测设备包括主机，还包括惯性传感器，所述主机内包括定位模块和处理器，所述惯性传感器和定位模块分别与所述处理器连接；所述惯性传感器，用于实时采集所述滑坡灾害监测设备的加速度和所述滑坡灾害监测设备与所述滑坡监测点的夹角，并发送给所述处理器；所述定位模块，用于以第一频率采集所述滑坡灾害监测设备的位置信息，并发送给所述处理器；所述处理器，用于设定时间内如果监测到所述滑坡灾害监测设备的加速度小于或等于第一设定阈值，且所述滑坡灾害监测设备与所述滑坡监测点的夹角小于或等于第二设定阈值，则控制所述定位模块以第二频率采集所述滑坡灾害监测设备的位置信息； 并将所述滑坡灾害监测设备的位置信息、加速度以及所述滑坡灾害监测设备与所述滑坡监测点的夹角发送给后台终端，由所述后台终端进行展示；所述第二频率小于所述第一频率。上述方案将惯性传感器和定位模块进行融合，在滑坡灾害监测设备的加速度和夹角较小时，使定位模块以较低的频率采集滑坡灾害监测设备的位置信息，从而降低了功耗。
实施例二
考虑到实际应用时，滑坡灾害监测设备1受遮挡或干扰影响，容易出现误报的情况，从而影响用户判断。本实施例可以结合惯性传感器12和定位模块112采集的数据，对惯性传感器12和定位模块112进行校验，降低误报的概率。对惯性传感器12和和定位模块112的校验可以由处理器111执行，也可以由后台终端2执行。
在利用处理器111对惯性传感器12进行校验时，在一个示例中，处理器111，还用于如果监测到滑坡灾害监测设备1的加速度大于第一设定阈值，或者滑坡灾害监测设备1与滑坡监测点A的夹角大于第二设定阈值，则控制定位模块112以第三频率采集滑坡灾害监测设备1的位置信息，第三频率大于第一频率；
如果监测到设定时间内滑坡灾害监测设备1的位置信息的变化不满足设定条件，则确定惯性传感器12误报，并对误报的加速度和/或夹角进行标记；否则，向后台终端2发送触发标志位信息；
后台终端2，还用于基于收到的触发标志位信息，进行滑坡灾害预警。
处理器111在监测到惯性传感器12采集的加速度或夹角超过对应阈值时，一方面可以控制定位模块112以较高的频率采集滑坡灾害监测设备1的位置信息，实现了工作频率的自动调整，提高了响应的及时性，实施例将该频率记为第三频率。另一方面还可以进一步比较滑坡灾害监测设备1的位置信息，如果监测到设定时间内滑坡灾害监测设备1的位置不变或变化较小，即认为滑坡灾害监测设备1的位置信息不满足设定条件，可以确定惯性传感器12误报，此时处理器111可以对误报的数据进行标记，在将其发送给后台终端2时，可以方便后台用户查看。后台终端2收到带有标记的误报数据后，可以将误报的数据删除，防止其对后台用户造成不必要的干扰，也可以保留，保持数据的完整性。如果监测到设定时间内滑坡灾害监测设备1的位置变化较大，即认为滑坡灾害监测设备1的位置信息满足设定条件，则认为滑坡监测点A存在滑坡灾害风险，可以向后台终端2发送触发标志位信息，以指示后台终端2滑坡监测点A存在滑坡灾害风险。实施例对触发标志位信息的具体形式不进行限定。
后台终端2收到触发标志位信息后进行滑坡灾害预警，以提示后台用户滑 坡监测点A存在滑坡灾害风险。实施例对预警的具体方式不进行限定，例如可以通过信号指示灯、蜂鸣器和/或语音等方式提示后台用户滑坡监测点A存在滑坡灾害风险。上述方案既可以有效降低误报的概率，又可以在滑坡监测点A存在滑坡灾害风险时，及时提醒用户，降低了滑坡灾害造成的损失。
在利用处理器111对定位模块112进行校验时，在一个示例中，处理器111，还用于当监测到滑坡灾害监测设备1的位置信息的变化满足设定条件时，如果对应时间内滑坡灾害监测设备1的加速度小于或等于第一设定阈值以及滑坡灾害监测设备1与滑坡监测点A的夹角小于或等于第二设定阈值，则确定定位模块112误报，并对误报的位置信息进行标记；否则，向后台终端2发送触发标志位信息；
后台终端2，还用于基于收到的触发标志位信息，进行滑坡灾害预警。
当处理器111监测到滑坡灾害监测设备1的位置变化较大时，可以进一步结合惯性传感器12的数据确定定位模块112是否误报。例如如果对应时间内滑坡灾害监测设备1的加速度或滑坡灾害监测设备1与滑坡监测点A的夹角较小，则认为定位模块112误报，此时处理器111可以对误报的位置信息进行标记，并发送给后台终端2。如果对应时间内滑坡灾害监测设备1的加速度和滑坡灾害监测设备1与滑坡监测点A的夹角较大，则认为滑坡监测点A存在滑坡灾害风险，可以向后台终端2发送触发标志位信息，使后台终端2基于触发标志位信息进行预警。其他细节可以参考对惯性传感器12的校验，此处不再赘述。
在利用后台终端2对惯性传感器12进行校验时，在一个示例中，处理器111，还用于如果监测到滑坡灾害监测设备1的加速度大于第一设定阈值，或者滑坡灾害监测设备1与滑坡监测点A的夹角大于第二设定阈值，则控制定位模块112以第三频率采集滑坡灾害监测设备1的位置信息；并向后台终端2发送触发标志位信息，第三频率大于第一频率；
后台终端2，还用于如果监测到设定时间内滑坡灾害监测设备1的位置信息的变化不满足设定条件，则确定惯性传感器12误报，并消除处理器111发送的触发标志位信息，否则，进行滑坡灾害预警。
该示例中处理器111主要基于惯性传感器12采集的数据自动的调整定位模块112的工作频率以及将收到的加速度、夹角以及位置信息上报给后台终端2。如果处理器111监测到滑坡灾害监测设备1的加速度大于第一设定阈值，或者滑坡灾害监测设备1与滑坡监测点A的夹角大于第二设定阈值，则认为滑坡监测点A存在滑坡灾害风险，并控制定位模块112以第三频率工作，同时向后台终端2发送触发标志位信息。注意该情况下处理器111发送的触发标志位信息可能包含误报的情况，即该示例中只要处理器111监测到滑坡灾害监测设备1 的加速度以及滑坡灾害监测设备1与滑坡监测点A的夹角任意一方超过阈值时，即可向后台终端2发送触发标志位信息。这种情况下，如果处理器111监测到一段时间内滑坡灾害监测设备1的位置不变或变化较小时，也可以自动取消向后台终端2发送触发标志位信息。其中，处理器111控制定位模块112以第三频率工作，可以是处理器111控制定位模块112由第一频率切换至第三频率工作，即处理器111认为滑坡监测点A存在滑坡灾害风险之前，定位模块112以第一频率工作。也可以是处理器111控制定位模块112由第二频率切换至第三频率工作，以第二频率为0为例，即发生滑坡灾害风险之前定位模块112已停止工作，此时需要重新启动定位模块112，使其以第三频率工作，保证响应的及时性。
后台终端2收到处理器111发送的数据后，如果监测到设定时间内滑坡灾害监测设备1的位置信息的变化不满足设定条件，则确定惯性传感器12误报，此时后台终端2可以消除对应数据的触发标志位信息，防止其对后台用户造成干扰，否则，认为确实存在滑坡灾害风险，并进行滑坡灾害预警。
在利用后台终端2对定位模块112进行校验时，在一个示例中，后台终端2，还用于当监测到滑坡灾害监测设备1的位置信息的变化满足设定条件时，如果对应时间内滑坡灾害监测设备1的加速度小于或等于第一设定阈值以及滑坡灾害监测设备1与滑坡监测点A的夹角小于或等于第二设定阈值，则确定定位模块112误报，并对误报的位置信息进行标记，否则，进行滑坡灾害预警。
后台终端2对定位模块112的校验过程与处理器111类似，此处不再赘述。通过上述校验方案可以有效避免滑坡灾害监测设备1因遮挡或干扰等因素的影响而导致误报的发生，降低了误报的概率。
本申请实施例二提供一种滑坡灾害监测设备，在上述实施例的基础上当处理器监测到滑坡灾害监测设备的加速度和滑坡灾害监测设备与滑坡监测点的夹角超过对应阈值时，可以自动提高定位模块的采集频率，从而在存在滑坡灾害风险时，可以提高响应的及时性，快速得到滑坡灾害监测设备滑动后的位置信息。其次，还可以通过处理器或后台终端对惯性传感器和定位模块进行校验，确定其是否存在误报，有效避免了因滑坡灾害监测设备被遮挡或受其他干扰而导致误报的情况，降低了误报概率，保证了数据的准确性，提高了数据的质量。
实施例三
本实施例以包括三个滑坡监测点为例，相应的，滑坡灾害监测设备包括三个，分别记为滑坡灾害监测设备A1、滑坡灾害监测设备A2和滑坡灾害监测设备A3。传统的方式中，各滑坡灾害监测设备之间是相互独立的。由于发生滑坡灾害时，通常对应的是一个区域，而不单纯的是某个点，按照传统的方式无法 对滑坡体进行有效的监测，进而无法采取有效的措施。
参考图3，图3为本申请实施例三提供的一种后台终端与滑坡灾害监测设备的交互示意图。各滑坡灾害监测设备之间可以相互通信，各滑坡灾害监测设备与后台终端之间也可以通信。具体的通信方式可以根据实际情况确定，例如通常情况下后台终端与滑坡灾害监测设备距离较远，因此后台终端与滑坡灾害监测设备之间可以采用移动通信模块进行通信，例如可以通过2G、3G或4G的方式通信。当各滑坡灾害监测设备之间距离较近时，各滑坡灾害监测设备之间可以采用有线的方式通信，例如可以通过RS-485或RS-422通信线缆进行通信，当各滑坡灾害监测设备之间距离较远时，各滑坡灾害监测设备之间可以采用无线的方式通信，例如可以通过远距离无线电(Long Range Radio，Lora)模块进行通信。
在一个示例中，当后台终端确定其中一台滑坡灾害监测设备所在的滑坡监测点发生滑坡灾害时，向其他滑坡灾害监测设备发送联动指令，以使其他滑坡灾害监测设备的定位模块以第三频率采集滑坡灾害监测设备的位置信息，并上报给后台终端。例如当后台终端确定滑坡灾害监测设备A1所在的滑坡监测点发生滑坡灾害时，可以同步向滑坡灾害监测设备A2和滑坡灾害监测设备A3发送联动指令，以使滑坡灾害监测设备A2和滑坡灾害监测设备A3均以第三频率采集滑坡灾害监测设备的位置信息，并上报给后台终端，使后台用户可以对滑坡体的某个区域的位置信息进行了解，方便其采取措施。
在一个示例中，当其中一台滑坡灾害监测设备所在的滑坡监测点发生滑坡灾害时，该滑坡灾害监测设备向其他滑坡灾害监测设备发送联动指令，以使其他滑坡灾害监测设备的定位模块以第三频率采集所述滑坡灾害监测设备的位置信息，并上报给后台终端。例如当滑坡灾害监测设备A1所在的滑坡监测点发生滑坡灾害时，滑坡灾害监测设备A1可以同步向滑坡灾害监测设备A2和滑坡灾害监测设备A3发送联动指令，以使滑坡灾害监测设备A2和滑坡灾害监测设备A3均以第三频率采集滑坡灾害监测设备的位置信息，并上报给后台终端，使后台用户可以对滑坡体的某个区域的位置信息进行了解，方便其采取措施。
本申请实施例三提供一种滑坡灾害监测设备，在上述实施例的基础上，增加了多个滑坡灾害监测设备之间的联动机制，使得当一定范围内的某个滑坡灾害监测设备所在的滑坡监测点发生滑坡灾害时，该范围内的其他滑坡灾害监测设备可以被联动触发，使后台用户可以了解不同滑坡监测点的位置信息，及时采取有效的措施。
在上述实施例的基础上，参考图4，图4为本申请实施例三提供的一种主机的结构图，该主机11内除了包括上述实施例所述的处理器111和定位模块112， 还包括与处理器111连接的通信模块113，用于实现与外部终端的通信，例如通过该通信模块可以与其他滑坡灾害监测设备通信，也可以与后台终端通信。本实施例的通信模块113以包括移动通信模块1131、Lora模块1132和北斗通信模块1133为例，其中，移动通信模块1131可以包括2G、3G或4G通信模块，移动通信模块1131可以使处理器111将接收到的滑坡灾害监测设备1的位置信息发送给后台终端2。通常在利用移动通信模块1131将滑坡灾害监测设备1的位置信息发送给后台终端2时会产生较大的功耗，采用上述方案在监测到滑坡灾害监测设备1的加速度以及滑坡灾害监测设备1与滑坡监测点A的夹角小于对应阈值时，降低定位模块112的工作频率，可以降低滑坡灾害监测设备1的整体功耗。例如按照传统的方式使定位模块112连续以较高的频率工作24小时，整个设备产生的功耗在2W-5W之间，甚至更高，采用本方案可以将整个设备的功耗控制在1W以内。Lora模块1132用于建立各坡灾害监测设备之间的通信连接，实现联动触发。北斗通信模块1133用于将惯性传感器12采集的数据上报给后台终端2。当然还可以根据实际需要选择其他类型的通信模块，实施例不做具体限定，例如也可以采用窄带物联网建立各设备之间的通信连接。
在上述实施例的基础上，该滑坡灾害监测设备1还包括天线，例如可以包括GNSS天线141、Lora天线142以及2G、3G或4G天线143，以分别和图4中的定位模块112、Lora模块1132和移动通信模块1131连接。
在上述实施例的基础上，该滑坡灾害监测设备1还包括电源模块，为滑坡灾害监测设备1供电。实施例对电源模块构成不进行限定，例如可以利用太阳能或锂电池等为滑坡灾害监测设备1供电。
在上述实施例的基础上，在利用处理器111或后台终端2对惯性传感器12和定位模块112进行校验时，可以采用静态解算或动态解算的方式实现。例如在滑坡监测点A不存在滑坡灾害风险时，可以通过静态解算的方式确定惯性传感器12和定位模块112是否误报，提高位置信息的准确性；在滑坡监测点A存在滑坡灾害风险时，处理器111或后台终端2可以通过动态解算的方式确定惯性传感器12和定位模块112是否误报，提高响应的及时性，快速获取滑坡灾害监测设备1的位置信息。动态解算可以采用RTK(Real-time kinematic，实时动态)方式，相应的静态解算为非RTK方式。具体过程本实施例不进行限定。

Claims (10)

  1. 一种滑坡灾害监测设备(1)，设置于滑坡监测点，所述滑坡灾害监测设备(1)包括主机(11)，还包括惯性传感器(12)，所述主机(11)内包括定位模块(112)和处理器(111)，所述惯性传感器(12)和定位模块(112)分别与所述处理器(111)连接；
    所述惯性传感器(12)，配置为实时采集所述滑坡灾害监测设备(1)的加速度和所述滑坡灾害监测设备(1)与所述滑坡监测点的夹角，并发送给所述处理器(111)；
    所述定位模块(112)，配置为以第一频率采集所述滑坡灾害监测设备(1)的位置信息，并发送给所述处理器(111)；
    所述处理器(111)，配置为设定时间内如果监测到所述滑坡灾害监测设备(1)的加速度小于或等于第一设定阈值，且所述滑坡灾害监测设备(1)与所述滑坡监测点的夹角小于或等于第二设定阈值，则控制所述定位模块(112)以第二频率采集所述滑坡灾害监测设备(1)的位置信息；并将所述滑坡灾害监测设备(1)的位置信息、加速度以及所述滑坡灾害监测设备(1)与所述滑坡监测点的夹角发送给后台终端(2)，由所述后台终端(2)进行展示；所述第二频率小于所述第一频率。
  2. 根据权利要求1所述的设备(1)，其中，所述处理器(111)还配置为：
    如果监测到所述滑坡灾害监测设备(1)的加速度大于所述第一设定阈值，或者所述滑坡灾害监测设备(1)与所述滑坡监测点的夹角大于所述第二设定阈值，则控制所述定位模块(112)以第三频率采集所述滑坡灾害监测设备(1)的位置信息，所述第三频率大于所述第一频率；
    如果监测到设定时间内所述滑坡灾害监测设备(1)的位置信息的变化不满足设定条件，则确定所述惯性传感器(12)误报，并对误报的加速度和/或夹角进行标记；如果监测到设定时间内所述滑坡灾害监测设备(1)的位置信息的变化满足所述设定条件，向所述后台终端(2)发送触发标志位信息；
    所述后台终端(2)，还配置为基于收到的触发标志位信息，进行滑坡灾害预警。
  3. 根据权利要求1所述的设备(1)，其中，所述处理器(111)还配置为当监测到所述滑坡灾害监测设备的位置信息的变化满足设定条件时，如果对应时间内所述滑坡灾害监测设备的加速度小于或等于所述第一设定阈值以及所述滑坡灾害监测设备与所述滑坡监测点的夹角小于或等于所述第二设定阈值，则确定所述定位模块(112)误报，并对误报的位置信息进行标记；当监测到所述滑坡灾害监测设备的位置信息的变化满足设定条件时，如果对应时间内所述滑 坡灾害监测设备的加速度大于所述第一设定阈值或者所述滑坡灾害监测设备与所述滑坡监测点的夹角大于所述第二设定阈值，向所述后台终端(2)发送触发标志位信息；
    所述后台终端(2)，还配置为基于收到的触发标志位信息，进行滑坡灾害预警。
  4. 根据权利要求1所述的设备(1)，其中，所述处理器(111)还配置为如果监测到所述滑坡灾害监测设备(1)的加速度大于第一设定阈值，或者所述滑坡灾害监测设备(1)与所述滑坡监测点的夹角大于第二设定阈值，则控制所述定位模块(112)以第三频率采集所述滑坡灾害监测设备(1)的位置信息；并向所述后台终端(2)发送触发标志位信息，所述第三频率大于所述第一频率；
    所述后台终端(2)还配置为如果监测到设定时间内所述滑坡灾害监测设备(1)的位置信息的变化不满足设定条件，则确定所述惯性传感器(12)误报，并消除所述处理器(111)发送的触发标志位信息；如果监测到设定时间内所述滑坡灾害监测设备(1)的位置信息的变化满足所述设定条件，则进行滑坡灾害预警。
  5. 根据权利要求1所述的设备(1)，其中，所述后台终端(2)还配置为当监测到所述滑坡灾害监测设备(1)的位置信息的变化满足设定条件时，如果对应时间内所述滑坡灾害监测设备(1)的加速度小于或等于所述第一设定阈值以及所述滑坡灾害监测设备(1)与所述滑坡监测点的夹角小于或等于所述第二设定阈值，则确定所述定位模块(112)误报，并对误报的位置信息进行标记；当监测到所述滑坡灾害监测设备(1)的位置信息的变化满足设定条件时，如果对应时间内所述滑坡灾害监测设备(1)的加速度大于所述第一设定阈值或者所述滑坡灾害监测设备(1)与所述滑坡监测点的夹角大于所述第二设定阈值，则进行滑坡灾害预警。
  6. 根据权利要求1所述的设备(1)，其中，所述主机(11)上设置有外置传感器接口，所述惯性传感器(12)设置在所述主机(11)的外部，通过所述外置传感器接口与所述处理器(111)连接。
  7. 根据权利要求1所述的设备(1)，其中，所述惯性传感器(12)设置在所述主机(11)的内部。
  8. 根据权利要求1所述的设备(1)，其中，所述滑坡监测点至少包括两个，每一个滑坡监测点设置有一台滑坡灾害监测设备(1)；
    所述后台终端(2)设置为：当确定所述至少两个监测点中的一台所述滑坡灾害监测设备(1)所在的滑坡监测点发生滑坡灾害时，向所述至少两个监测点 中的其他所述滑坡灾害监测设备(1)发送联动指令，以使其他所述滑坡灾害监测设备(1)的定位模块(112)以第三频率采集所述滑坡灾害监测设备(1)的位置信息，并上报给所述后台终端(2)。
  9. 根据权利要求1所述的设备(1)，其中，所述滑坡监测点至少包括两个，每一个滑坡监测点设置有一台滑坡灾害监测设备(1)；
    每台滑坡灾害监测设备(1)设置为当所述滑坡灾害监测设备所在的滑坡监测点发生滑坡灾害时，向其他滑坡灾害监测设备(1)发送联动指令，以使其他滑坡灾害监测设备(1)的定位模块(112)以第三频率采集所述滑坡灾害监测设备(1)的位置信息，并上报给所述后台终端(2)。
  10. 根据权利要求1-9任一项所述的设备(1)，其中，所述主机内(11)还包括通信模块(113)，所述通信模块(113)与所述处理器(111)连接并设置为将滑坡灾害监测设备(1)的加速度、所述滑坡灾害监测设备(1)与所述滑坡监测点的夹角以及所述滑坡灾害监测设备(1)的位置信息发送给所述后台终端(2)。
PCT/CN2021/097122 2021-03-02 2021-05-31 滑坡灾害监测设备 WO2022183607A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110231409.4A CN112987057A (zh) 2021-03-02 2021-03-02 一种滑坡灾害监测设备
CN202110231409.4 2021-03-02

Publications (1)

Publication Number Publication Date
WO2022183607A1 true WO2022183607A1 (zh) 2022-09-09

Family

ID=76352049

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/097122 WO2022183607A1 (zh) 2021-03-02 2021-05-31 滑坡灾害监测设备

Country Status (2)

Country Link
CN (1) CN112987057A (zh)
WO (1) WO2022183607A1 (zh)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115325928A (zh) * 2022-10-17 2022-11-11 西北大学 一种基于北斗通信的滑坡地表裂缝综合监测系统
CN115830809A (zh) * 2022-11-28 2023-03-21 河南辉煌科技股份有限公司 泥石流报警智能电网传感器及监测方法
CN116567566A (zh) * 2023-07-10 2023-08-08 天津市祥途测绘科技有限公司 基于多源信息融合的陡坡防滑危险监测方法及系统
CN116758703A (zh) * 2023-06-08 2023-09-15 重庆一三六地质队 一种高精智能可视化地质灾害监测预警管理系统
CN115830809B (zh) * 2022-11-28 2024-05-03 河南辉煌科技股份有限公司 泥石流报警智能电网传感器及监测方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115379406A (zh) * 2022-07-06 2022-11-22 南京隆远电气技术有限公司 一种传感器终端采集装置及方法

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3635270B2 (ja) * 2002-07-10 2005-04-06 株式会社パスコ 地盤変動計測システム
JP2006195650A (ja) * 2005-01-12 2006-07-27 Chuo Kaihatsu Kk 斜面崩壊監視予測システム
CN102163363A (zh) * 2011-04-07 2011-08-24 北京航空航天大学 山体滑坡实时监测与预警系统
CN107808498A (zh) * 2017-12-01 2018-03-16 四川汇源光通信有限公司 一种山体滑坡的监测方法及应用该方法的监测系统
CN108230624A (zh) * 2016-12-22 2018-06-29 天津超音科技有限公司 基于cc2530的山体滑坡监测系统
CN109801477A (zh) * 2018-12-28 2019-05-24 航天信息股份有限公司 一种监测山体滑坡的方法和系统
CN209842836U (zh) * 2019-05-12 2019-12-24 西南交通大学 基于多传感信息融合的山体滑坡监测系统
CN111243241A (zh) * 2020-03-10 2020-06-05 山东省地质矿产勘查开发局八〇一水文地质工程地质大队 山体滑坡预警系统
CN111256753A (zh) * 2020-01-09 2020-06-09 成都理工大学 一种智能崩塌监测装置及其监测方法
CN212342025U (zh) * 2020-10-30 2021-01-12 中国地质环境监测院 用于山体滑坡监测的多传感器互动监测系统

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010097241A (ja) * 2008-10-14 2010-04-30 Hajime Nakamura 自律型災害予知センサ
CN104794860B (zh) * 2015-04-24 2017-08-25 孟祥玉 基于物联网技术的山体滑坡监测预警装置及其控制方法
CN105046913A (zh) * 2015-07-09 2015-11-11 广西牛博物联信息技术有限公司 远程环境监测数据采集系统
CN108209881B (zh) * 2017-07-03 2019-11-12 深圳市前海未来无限投资管理有限公司 一种足部状态预警方法及装置
CN210952786U (zh) * 2019-11-03 2020-07-07 上海展为智能技术股份有限公司 用于山体滑坡监测的低功耗抗干扰倾角传感器及监测系统
CN111445670A (zh) * 2020-03-16 2020-07-24 深圳市城市公共安全技术研究院有限公司 地质灾害预警系统及方法
CN112201011A (zh) * 2020-10-10 2021-01-08 上海华测导航技术股份有限公司 一种具备多种传感器数据采集和传输的低功耗主控系统

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3635270B2 (ja) * 2002-07-10 2005-04-06 株式会社パスコ 地盤変動計測システム
JP2006195650A (ja) * 2005-01-12 2006-07-27 Chuo Kaihatsu Kk 斜面崩壊監視予測システム
CN102163363A (zh) * 2011-04-07 2011-08-24 北京航空航天大学 山体滑坡实时监测与预警系统
CN108230624A (zh) * 2016-12-22 2018-06-29 天津超音科技有限公司 基于cc2530的山体滑坡监测系统
CN107808498A (zh) * 2017-12-01 2018-03-16 四川汇源光通信有限公司 一种山体滑坡的监测方法及应用该方法的监测系统
CN109801477A (zh) * 2018-12-28 2019-05-24 航天信息股份有限公司 一种监测山体滑坡的方法和系统
CN209842836U (zh) * 2019-05-12 2019-12-24 西南交通大学 基于多传感信息融合的山体滑坡监测系统
CN111256753A (zh) * 2020-01-09 2020-06-09 成都理工大学 一种智能崩塌监测装置及其监测方法
CN111243241A (zh) * 2020-03-10 2020-06-05 山东省地质矿产勘查开发局八〇一水文地质工程地质大队 山体滑坡预警系统
CN212342025U (zh) * 2020-10-30 2021-01-12 中国地质环境监测院 用于山体滑坡监测的多传感器互动监测系统

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115325928A (zh) * 2022-10-17 2022-11-11 西北大学 一种基于北斗通信的滑坡地表裂缝综合监测系统
CN115325928B (zh) * 2022-10-17 2023-01-31 西北大学 一种基于北斗通信的滑坡地表裂缝综合监测系统
CN115830809A (zh) * 2022-11-28 2023-03-21 河南辉煌科技股份有限公司 泥石流报警智能电网传感器及监测方法
CN115830809B (zh) * 2022-11-28 2024-05-03 河南辉煌科技股份有限公司 泥石流报警智能电网传感器及监测方法
CN116758703A (zh) * 2023-06-08 2023-09-15 重庆一三六地质队 一种高精智能可视化地质灾害监测预警管理系统
CN116567566A (zh) * 2023-07-10 2023-08-08 天津市祥途测绘科技有限公司 基于多源信息融合的陡坡防滑危险监测方法及系统
CN116567566B (zh) * 2023-07-10 2023-09-15 天津市祥途测绘科技有限公司 基于多源信息融合的陡坡防滑危险监测方法及系统

Also Published As

Publication number Publication date
CN112987057A (zh) 2021-06-18

Similar Documents

Publication Publication Date Title
WO2022183607A1 (zh) 滑坡灾害监测设备
KR101784860B1 (ko) 이동 단말 및 이동 단말 위치 정보를 취득하는 방법
CN102110347B (zh) 一种人体跌倒检测和报警的设备和方法
CN101582205B (zh) 低空空域飞行器飞行状态监视方法和装置
CN112927478B (zh) 一种地质灾害普适型监测预警系统
CN102496240B (zh) 泥石流预警系统
CN103903406A (zh) 一种突发事件监测通知方法及系统
CN203687993U (zh) 一种边坡监测系统
CN102289915A (zh) 一种灾害监测预警系统
CN205670371U (zh) 一种基于倾角传感器的景区边坡实时监测系统
CN205582211U (zh) 一种一体化断线报警自动监测站
CN112581725B (zh) 一种基于NBIOT与LoRa双模通信的山体滑坡预警监测系统
CN107689990A (zh) 一种监测终端的数据上报方法
CN103996269A (zh) 无线数据采集控制系统
CN104333847A (zh) 旅游团队搜救系统
CN102680168B (zh) 记录灾害发生时孔隙水压力突变过程的方法及其监测装置
TWI433060B (zh) Slope displacement monitoring and warning system
CN104240447A (zh) 一种基于激光测距的滑坡监测报警方法及装置
CN115578836A (zh) 基于多元数据分析的地质滑坡预警系统
CN206096454U (zh) 一种用于无人机的防摔保护与防丢失装置
CN110264673A (zh) 一种集成gnss和微震信息的多功能地灾监测装置及系统
CN203552415U (zh) 一种基于激光测距的滑坡监测报警装置
CN112017419A (zh) 一种基于多源数据的建筑物安全监测与预警系统及其方法
KR20170069728A (ko) 노약자의 생체 및 정밀위치 정보의 추적 알고리즘에 기반한 노약자 안전관리시스템
CN104990519A (zh) 一种基于卫星定位技术的边坡变形监测系统

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21928688

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE