Embedded automatic inclinometer robot and use method thereof

Abstract

The present invention relates to the field of measuring inclination, and specifically to an embedded automatic inclinometer robot and a method for using the same. An embedded automatic inclinometer robot comprises a wireless probe (2), and is characterized in that it also comprises a lifting device (3) and a power supply box (4), wherein the lifting device (3) is fixed on the top of the inclinometer tube (1), and the lifting device (3) comprises a remote communication antenna (301), a main control circuit (302), a stepper motor (303), a lifting module (304), a Bluetooth communication module (310), a wireless charging module (311) and a sealed housing (312); the power supply box (4) is connected to the lifting device (3) via a cable. A method for using an embedded automatic inclinometer robot is characterized in that the following steps are implemented in sequence: ① installation; ② power supply; ③ setting; ④ communication; ⑤ measurement; ⑥ transmission. The present invention has a compact structure and strong environmental adaptability.

Description

Technical Field

[0001] The invention relates to the field of inclination measurement, and in particular to an embedded automatic inclinometer robot and a use method thereof. Background Art

[0002] Inclinometer is a geotechnical engineering measuring instrument, which is widely used to measure the deep horizontal displacement of natural soil or structures such as slopes, foundation pits, dams, etc. The traditional measurement method is to manually use a measuring probe, manually lower it into the inclinometer tube, and record data every 0.5 meters during the lifting process. Subsequently, fixed inclinometers appeared, that is, a probe was installed at each measuring position (such as every 0.5 meters) and connected in series with cables. This type of inclinometer achieves the purpose of unattended automatic monitoring on site, but since a probe is required at each measuring position, the cost of the system is greatly increased.

[0003] The Chinese patent with authorization announcement number 209247002U disclosed a fully automatic inclinometer system on August 13, 2019. The system has automatic lifting capability and solves the cost problem of automated monitoring. However, the lifting device is large in size and is often limited by on-site installation space at construction sites such as foundation pits and dams. Summary of the invention

[0004] In order to overcome the defects of the prior art and provide an inclinometer with compact structure and strong environmental adaptability, the present invention discloses an embedded automatic inclinometer robot and a use method thereof.

[0005] The present invention achieves the purpose of the invention through the following technical solutions:

[0006] An embedded automatic inclinometer robot is used to measure the inclination angle of an inclinometer tube on the side wall of a foundation pit, and calculate the displacement of the side wall of the foundation pit caused by deformation in the horizontal direction through the inclination angle. The robot comprises a wireless probe, which is arranged in the inclinometer tube. The robot is characterized in that it also comprises a lifting device and a power supply box.

[0007] The lifting device is fixed on the top of the inclinometer tube. The lifting device includes a remote communication antenna, a main control circuit, a stepper motor, a lifting module, a fixed pulley, an encoder, a force sensor, a lifting line, a waterproof sleeve, a Bluetooth communication module, a wireless charging module and a sealed housing.

[0008] The remote communication antenna, the main control circuit, the stepping motor, the lifting module, the fixed pulley, the encoder, the force sensor, the lifting line, the waterproof sleeve, the Bluetooth communication module and the wireless charging module are all arranged in the sealed housing, the remote communication antenna is arranged at the top of the sealed housing, and the Bluetooth communication module and the wireless charging module are arranged at the bottom of the sealed housing;

[0009] The output shaft of the stepper motor is connected to the input shaft of the lifting module. At least three fixed pulleys are arranged on the outer side of the lifting module in sequence, one of which is provided with an encoder and a force sensor. One end of the lifting line is tied to the lifting module, and the other end of the lifting line is wound around each fixed pulley in sequence and then passed through the bottom of the sealed housing to connect to the wireless probe. The connection between the lifting line and the sealed housing is lined with a waterproof sleeve.

[0010] The main control circuit is respectively connected to the stepper motor, the encoder and the force sensor through communication lines, the Bluetooth communication module and the wireless probe are wirelessly connected through Bluetooth signals, and the wireless charging module is connected to the wireless probe through wireless charging signals;

[0011] The power supply box is connected to the lifting device through a cable.

[0012] The embedded automatic inclinometer robot is characterized in that: inclinometer grooves are arranged at intervals on the inner wall of the inclinometer tube, and lifting teeth are arranged at intervals on the outer wall of the sealing shell of the lifting device. The number of the lifting teeth is no more than the number of the inclinometer grooves, and the shape and size of the lifting teeth match the shape and size of the inclinometer grooves. Each lifting tooth is respectively embedded in an inclinometer groove so that no relative rotation occurs between the lifting device and the inclinometer tube.

[0013] The embedded automatic inclinometer robot is characterized in that the lifting module includes a spline shaft, a winding shaft sleeve, a reciprocating screw, a slider and a lifting tube, and the spline shaft, the winding shaft sleeve, the reciprocating screw and the slider are all arranged in the lifting tube; the top end of the spline shaft is arranged at the top of the lifting tube as a rotating end and is connected to the output shaft of the stepper motor through a reducer, the winding shaft sleeve is clamped outside the spline shaft, the protruding teeth in the winding shaft sleeve and the keys outside the spline shaft are engaged with each other, the reciprocating screw is arranged directly below the spline shaft, and the bottom end of the reciprocating screw is fixed to the bottom of the lifting tube, a pin is provided in the slider, the slider is screwed on the reciprocating screw and the top of the slider is fixed to the bottom of the winding shaft sleeve, the outer end of the pin in the slider is embedded in the thread of the external thread of the reciprocating screw, and one end of the lifting line is tied to the winding shaft sleeve.

[0014] The embedded automatic inclinometer robot is characterized in that: the waterproof sleeve includes a seal, a sealing gasket, a pressure plate and a sealing screw, a through hole is provided at the bottom of the sealing shell, the seal is conical and has a through hole at the center axis, the seal is arranged on the outside of the bottom of the sealing shell and the tip of the seal faces the bottom of the sealing shell, the through holes of the seal and the sealing shell are aligned with each other, a through hole is provided in the middle of the sealing gasket, which forms an interference fit with the outer shape of the seal, the sealing gasket is clamped outside the seal through the through hole in the middle, a through hole is provided in the middle of the pressure plate, which forms an interference fit with the bottom surface of the seal, the pressure plate covers the bottom surface of the sealing gasket and makes the bottom surface of the seal pass through the through hole in the middle of the pressure plate, the pressure plate, the sealing gasket and the bottom of the sealing shell are connected in sequence with at least two sealing screws, and the bottom end of the lifting line passes through the through hole at the bottom of the sealing shell and the through hole at the center axis of the seal in sequence.

[0015] The method for using the embedded automatic inclinometer robot is characterized by being implemented in sequence according to the following steps:

[0016] ① Installation: Place the lifting device in the inclinometer tube and fix the top of the lifting device at the entrance of the inclinometer tube, ensuring that the top of the lifting device is flush with the ground at the test site;

[0017] ② Power supply: one end of the cable is connected to the power supply box, and the other end of the cable is sealed and connected to the lifting device;

[0018] ③ Setting: Set the boost parameters to the main control circuit through the cloud server or smart mobile terminal, including sampling rate, boost interval, and total depth;

[0019] ④ Communication: After the parameters are set, if the sampling time has not yet arrived, the main control circuit automatically communicates with the wireless probe, and the wireless probe enters the dormant state;

[0020] ⑤ Measurement: When the sampling time comes, the main control circuit automatically performs a measurement. The measurement steps are as follows:

[0021] a. The lifting device wakes up the wireless probe through the Bluetooth communication module, and the wireless probe starts to collect inclination data.

[0022] b. The main control circuit drives the stepper motor to rotate in the opposite direction, and the output shaft of the stepper motor rotates in the opposite direction to drive the lifting module to lower the wireless probe at a constant speed (such as 0.5m / min).

[0023] c. During the lowering process, the lifting device records the data of the encoder to measure the lowering depth.

[0024] d. When the wireless probe is lowered to the set depth (such as 40 meters), the main control circuit controls the stepper motor to stop.

[0025] e. Then the main control circuit drives the stepper motor to rotate forward, and the forward rotation of the stepper motor drives the lifting module to lift the wireless probe at a uniform speed.

[0026] f. When the wireless probe is lifted to the measuring point (e.g. one measuring point every 0.5 meters), the main control circuit controls the stepper motor to stop.

[0027] g. The wireless probe determines its own posture based on the collected inclination data. When the data is stable, the wireless probe automatically records the inclination data.

[0028] h. One minute after reaching the measuring point, the main control circuit drives the stepper motor to continue to rotate forward to lift the wireless probe to the next measuring point.

[0029] i. Repeat steps f to h until the inclination data of each measuring point is measured and the wireless probe is lifted to the initial position.

[0030] j. After the wireless probe returns to its initial position, the lifting device communicates with the wireless probe through the Bluetooth communication module to obtain all the inclination data collected for each measuring point and the battery status of the wireless probe.

[0031] k. If the battery power of the wireless probe is less than 90%, the lifting device turns on the wireless charging module, and the wireless charging module charges the wireless probe until the battery power of the wireless probe is fully charged.

[0032] l. The lifting device adjusts the wireless probe to sleep mode through the Bluetooth communication module, stops inclination measurement and battery status monitoring;

[0033] ⑥ Send: At this point, a measurement is completed, and the lifting device sends the data to the cloud monitoring platform through the LoRa or NB-IoT network.

[0034] The method for using the embedded automatic inclinometer robot is characterized by:

[0035] In step ③, the communication method between the main control circuit and the cloud server or smart mobile terminal uses the LoRa communication protocol or the NB-IoT communication protocol.

[0036] When the LoRa communication protocol is selected, a LoRa gateway is set up at the test site to network multiple local devices, so that the main control circuit is connected to the cloud server or smart mobile terminal through the LoRa gateway.

[0037] When the NB-IoT communication protocol is selected, the main control circuit is directly connected to the cloud server;

[0038] In step ⑤, during the lifting and lowering process of the wireless probe, when the main control circuit measures the position according to the encoder data to be in the automatic charging position, the main control circuit controls the stepper motor to stop, the lifting device to brake, and the wireless probe starts to charge; when the main control circuit determines that the lifting device is stuck according to the tension value measured by the force sensor, the main control circuit controls the stepper motor to stop, the lifting device to brake, and an alarm message is issued at the same time, waiting for manual processing.

[0039] The structural features of the present invention are as follows:

[0040] The present invention consists of three parts: a power supply box, a lifting device and an inclinometer:

[0041] 1. During transportation, the wireless probe and the lifting device are separated. The end of the lifting line is exposed under the lifting device. A connecting buckle is provided at the end of the line. A cable locking head is provided on the top of the lifting device. The top cover of the lifting device can be opened. There is a power connection socket inside. During on-site installation, first firmly connect the wireless probe and the end of the lifting line through the connecting buckle, and then lower the wireless probe and the lifting device as a whole into the inclinometer tube. Inclinometer teeth and inclinometer grooves are provided on the inner side wall of the inclinometer tube of the inclinometer device, and lifting teeth and lifting grooves are provided on the outer side wall of the sealed shell of the lifting device. They should be meshed with each other when installed.

[0042] 2. The power supply box is responsible for supplying power to the lifting device. It supports two input modes: AC220V mains power and solar energy. The output to the lifting device is DC 24V;

[0043] 3. The lifting device mainly includes a remote communication antenna, a main control circuit, a stepper motor, a lifting module, a waterproof sleeve, a Bluetooth communication module, and a wireless charging module.

[0044] 3.1 The main control circuit is responsible for the measurement and control of the lifting device. It drives the lifting line through the stepper motor to lift or lower the wireless probe. During the lifting or lowering process, the main control circuit calculates the current depth through the encoder installed on the fixed pulley. During lifting, if the force sensor reading is too large, the main control circuit will suspend the lifting and issue an alarm to prompt manual intervention; the Bluetooth communication module is responsible for communicating with the wireless probe, and the wireless charging module is responsible for charging the wireless probe;

[0045] 3.2 The lifting module consists of a reciprocating screw, a slider, a winding sleeve and a spline shaft. The stepper motor drives the spline shaft to rotate through the reducer, and the spline shaft and the winding sleeve are meshed through the spline, thereby driving the winding sleeve to rotate; the bottom of the winding sleeve is coaxially fixed with the slider, and the slider is driven to rotate when the winding sleeve rotates; the outer end of the pin in the slider is embedded in the thread of the external thread of the reciprocating screw, and the reciprocating screw is a fixed part. When the slider rotates, it drives the pin in the slider to rotate along the external thread of the reciprocating screw. Through the transmission effect of the external thread, the slider rotates around the reciprocating screw and also moves along the axial direction of the reciprocating screw, and drives the winding sleeve to rotate and move synchronously, thereby realizing the winding and unwinding functions;

[0046] 3.3 The wireless probe and the lifting device are connected by a lifting line. The wireless probe itself has a waterproof function and can work at a depth of more than 60 meters underwater. A rubber waterproof sleeve is installed at the outlet of the lifting device to ensure that the lifting line can support 1 meter of water pressure without leaking while moving up and down, ensuring the waterproofness of the lifting device;

[0047] 4. The wireless probe has a built-in inclination sensor, a rechargeable battery and a management circuit. The lifting device will lower the wireless probe into the inclinometer tube and then lift it at equal distances. When it stops at the measuring point, the wireless probe will automatically record the inclination data.

[0048] The present invention adopts a special structural design to minimize the lifting device, so that the entire measuring robot can be buried in the on-site inclinometer pipe, is not restricted by on-site installation conditions, and does not occupy the working space on the construction site.

[0049] The present invention has the following beneficial effects:

[0050] 1. Small size, can be buried in the inclinometer tube, does not affect the on-site operation;

[0051] 2. Waterproof and reliable, meeting the harsh working conditions on site;

[0052] 3. Small size and large winding capacity, can support the collection of lifting lines greater than 60m. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 It is a schematic diagram of the structure of the present invention;

[0054] Figure 2 It is a structural schematic diagram of the lifting module in the present invention;

[0055] Figure 3 It is a schematic diagram of the structure of the waterproof shaft sleeve in the present invention;

[0056] Figure 4 It is a structural schematic diagram of the lifting device in the present invention realizing positioning in the inclinometer groove through the cooperation of the inclinometer groove and the lifting teeth. DETAILED DESCRIPTION

[0057] The present invention is further illustrated by the following specific examples.

[0058] Example 1

[0059] An embedded automatic inclinometer robot is used to measure the inclination of an inclinometer tube 1 on the side wall of a foundation pit, and calculate the displacement of the side wall of the foundation pit in the horizontal direction due to deformation through the inclination, including a wireless probe 2, a lifting device 3 and a power supply box 4, such as Figure 1 to Figure 4 As shown, the specific structure is:

[0060] The wireless probe 2 is arranged in the inclinometer casing 1, and the lifting device 3 is fixed on the top of the inclinometer casing 1. The lifting device 3 includes a remote communication antenna 301, a main control circuit 302, a stepping motor 303, a lifting module 304, a fixed pulley 305, an encoder 306, a force sensor 307, a lifting line 308, a waterproof sleeve 309, a Bluetooth communication module 310, a wireless charging module 311 and a sealed housing 312.

[0061] The remote communication antenna 301, the main control circuit 302, the stepping motor 303, the lifting module 304, the fixed pulley 305, the encoder 306, the force sensor 307, the lifting line 308, the waterproof sleeve 309, the Bluetooth communication module 310 and the wireless charging module 311 are all arranged in the sealed housing 312, the remote communication antenna 301 is arranged at the top of the sealed housing 312, and the Bluetooth communication module 310 and the wireless charging module 311 are arranged at the bottom of the sealed housing 312;

[0062] The output shaft of the stepper motor 303 is connected to the input shaft of the lifting module 304. At least three fixed pulleys 305 are sequentially arranged on the outer surface of the lifting module 304, one of which is provided with an encoder 306 and a force sensor 307. One end of a lifting line 308 is tied to the lifting module 304, and the other end of the lifting line 308 is sequentially wound around each fixed pulley 305 and then passed through the bottom of the sealed housing 312 to connect to the wireless probe 2. The connection between the lifting line 308 and the sealed housing 312 is lined with a waterproof sleeve 309.

[0063] The main control circuit 302 is respectively connected to the stepper motor 303, the encoder 306 and the force sensor 307 through the communication line, the Bluetooth communication module 310 and the wireless probe 2 are wirelessly connected through the Bluetooth signal, and the wireless charging module 311 is connected to the wireless probe 2 through the wireless charging signal;

[0064] The power supply box 4 is connected to the lifting device 3 via a cable.

[0065] In this embodiment, Figure 4 As shown: the inner wall of the inclinometer tube 1 is provided with inclinometer grooves 13 at intervals in sequence, and the outer wall of the sealing shell 312 of the lifting device 3 is provided with lifting teeth 313 at intervals in sequence. The number of the lifting teeth 313 is not more than the number of the inclinometer grooves 13, and the shape and size of the lifting teeth 313 match the shape and size of the inclinometer grooves 13. Each lifting tooth 313 is respectively embedded in an inclinometer groove 13 so that the lifting device 3 and the inclinometer tube 1 do not rotate relative to each other.

[0066] In this embodiment, the boost module 304 is as follows Figure 2As shown in the figure, the lifting module 304 includes a spline shaft 51, a winding sleeve 52, a reciprocating screw rod 53, a slider 54 and a lifting tube 55. The spline shaft 51, the winding sleeve 52, the reciprocating screw rod 53 and the slider 54 are all arranged in the lifting tube 55; the top end of the spline shaft 51 is arranged on the top of the lifting tube 55 as a rotating end and is connected to the output shaft of the stepper motor 303 through a reducer, the winding sleeve 52 is clamped outside the spline shaft 51, and the protruding teeth in the winding sleeve 52 The reciprocating screw 53 is meshed with the key on the outside of the spline shaft 51, and the reciprocating screw 53 is arranged directly below the spline shaft 51. The bottom end of the reciprocating screw 53 is fixed to the bottom of the lifting tube 55. A pin is provided in the slider 54, and the slider 54 is screwed on the reciprocating screw 53 and the top of the slider 54 is fixed to the bottom of the winding shaft sleeve 52. The outer end of the pin in the slider 54 is embedded in the thread of the external thread of the reciprocating screw 53, and one end of the lifting line 308 is tied to the winding shaft sleeve 52.

[0067] In this embodiment, the waterproof sleeve 309 is as follows Figure 3 As shown: the waterproof sleeve 309 includes a seal 61, a sealing gasket 62, a pressure plate 63 and a sealing screw 64. A through hole is provided at the bottom of the sealing housing 312. The seal 61 is conical and has a through hole at the center axis. The seal 61 is arranged on the outside of the bottom of the sealing housing 312 and the tip of the seal 61 faces the bottom of the sealing housing 312. The through holes of the seal 61 and the sealing housing 312 are aligned with each other. The middle part of the sealing gasket 62 is provided with a through hole that forms an interference fit with the outer shape of the seal 61. The sealing gasket 62 is clamped on the outside of the sealing member 61 through the through hole in the middle. A through hole is provided in the middle of the pressure plate 63, which forms an interference fit with the bottom surface of the sealing member 61. The pressure plate 63 covers the bottom surface of the sealing gasket 62 and allows the bottom surface of the sealing member 61 to pass through the through hole in the middle of the pressure plate 63. The pressure plate 63, the sealing gasket 62 and the bottom of the sealing housing 312 are connected in sequence with at least two sealing screws 64. The bottom end of the lifting line 308 passes through the through hole at the bottom of the sealing housing 312 and the through hole at the center axis of the sealing member 61 in sequence.

[0068] When this embodiment is used, the following steps are implemented in sequence:

[0069] ① Installation: Install the lifting device 3 in the inclinometer tube 1 and fix the top of the lifting device 3 at the entrance of the inclinometer tube 1, ensuring that the top of the lifting device 3 is flush with the ground at the test site;

[0070] ② Power supply: one end of the cable is connected to the power supply box 4, and the other end of the cable is sealedly connected to the lifting device 3;

[0071] ③ Setting: Setting the boost parameters to the main control circuit 302 through the cloud server or the smart mobile terminal, including sampling rate, boost interval, total depth, etc.;

[0072] The communication method between the main control circuit 302 and the cloud server or the smart mobile terminal uses the LoRa communication protocol or the NB-IoT communication protocol.

[0073] When the LoRa communication protocol is selected, a LoRa gateway is provided at the test site to network multiple local devices, so that the main control circuit 302 is connected to the cloud server or the smart mobile terminal through the LoRa gateway.

[0074] When the NB-IoT communication protocol is selected, the main control circuit 302 is directly connected to the cloud server;

[0075] ④ Communication: After the parameters are set, if the sampling time has not yet arrived, the main control circuit 302 automatically communicates with the wireless probe 2, so that the wireless probe 2 enters the dormant state;

[0076] ⑤ Measurement: When the sampling time comes, the main control circuit 302 automatically performs a measurement. The measurement steps are as follows:

[0077] a lifting device 3 wakes up the wireless probe 2 through the Bluetooth communication module 310, the wireless probe 2 starts collecting inclination data,

[0078] b. The main control circuit 302 drives the stepper motor 303 to rotate in the opposite direction, and the output shaft of the stepper motor 303 rotates in the opposite direction to drive the lifting module 304 to lower the wireless probe 2 at a constant speed (eg, 0.5 m / min).

[0079] c. During the lowering process, the lifting device 3 records the data of the encoder 306 to calculate the lowering depth,

[0080] d. When the wireless probe 2 is lowered to a set depth (eg, 40 meters), the main control circuit 302 controls the stepper motor 303 to stop rotating.

[0081] e. Then the main control circuit 302 drives the stepper motor 303 to rotate forward, the stepper motor 303 rotates forward to drive the lifting module 304 to lift the wireless probe 2 at a uniform speed,

[0082] f. When the wireless probe 2 is raised to the measuring point (eg, a measuring point every 0.5 meters), the main control circuit 302 controls the stepper motor 303 to stop,

[0083] g. The wireless probe 2 determines the posture of the wireless probe 2 itself based on the collected inclination data. When the data is stable, the wireless probe 2 automatically records the inclination data.

[0084] h. When the measuring point is reached 1 minute later, the main control circuit 302 drives the stepper motor 303 to continue to rotate forward to lift the wireless probe 2 to the next measuring point,

[0085] i. Repeat steps f to h until the inclination data of each measuring point is measured and the wireless probe 2 is raised to the initial position,

[0086] j. After the wireless probe 2 returns to its initial position, the lifting device 3 communicates with the wireless probe 2 via the Bluetooth communication module 310 to obtain all the inclination data collected for each measuring point in this measurement, as well as the battery charge of the wireless probe 2.

[0087] k. If the battery charge of the wireless probe 2 is less than 90%, the lifting device 3 turns on the wireless charging module 311, and the wireless charging module 311 charges the wireless probe 2 until the battery charge of the wireless probe 2 is fully charged.

[0088] l lifting device 3 through the Bluetooth communication module 310 to adjust the wireless probe 2 to sleep mode, stop inclination measurement and battery status monitoring;

[0089] During the lifting and lowering process of the wireless probe 2, when the position measured by the main control circuit 302 according to the data of the encoder 306 is in the automatic charging position, the main control circuit 302 controls the stepper motor 303 to stop, the lifting device 3 brakes, and the wireless probe 2 starts to charge; when the main control circuit 302 determines that the lifting device 3 is stuck according to the tension value measured by the force sensor 307, the main control circuit 302 controls the stepper motor 303 to stop, the lifting device 3 brakes, and sends out an alarm message at the same time, waiting for manual processing;

[0090] ⑥ Send: At this point, a measurement is completed, and the lifting device 3 sends the data to the cloud monitoring platform through the LoRa or NB-IoT network.

[0091] The structural features of this embodiment are as follows:

[0092] This embodiment consists of three parts: power supply box 4, lifting device 3 and wireless probe 2:

[0093] 1. During transportation, the wireless probe 2 and the lifting device 3 are separated, and the end of the lifting line 308 is exposed below the lifting device 3. A connecting buckle is provided at the end of the lifting line. A cable locking head is provided on the top of the lifting device 3. The top cover of the lifting device 3 can be opened, and there is a power connection socket inside. During on-site installation, the wireless probe 2 and the end of the lifting line 308 are first firmly connected through the connecting buckle, and then the wireless probe 2 and the lifting device 3 are lowered into the inclinometer tube 1 as a whole. Inclinometer teeth and inclinometer grooves are provided on the inner side wall of the inclinometer tube 1, and lifting teeth and lifting grooves are provided on the outer side wall of the sealing shell 312 of the lifting device 3. When installing, they should be meshed with each other and put in.

[0094] 2. The power supply box 4 is responsible for supplying power to the lifting device 3, supporting both AC220V mains power and solar energy input, and outputting DC 24V to the lifting device 3;

[0095] 3. The lifting device 3 mainly includes a remote communication antenna 301, a main control circuit 302, a stepping motor 303, a lifting module 304, a waterproof sleeve 309, a Bluetooth communication module 310, and a wireless charging module 311.

[0096] 3.1 The main control circuit 302 is responsible for the measurement and control of the lifting device 3. The stepper motor 303 drives the lifting line 308 to lift or lower the wireless probe 2. During the lifting or lowering process, the main control circuit 302 calculates the current depth through the encoder 306 installed at the fixed pulley 305. During lifting, if the reading of the force sensor 307 is too large, the main control circuit 302 will suspend the lifting and issue an alarm to prompt manual intervention; the Bluetooth communication module 310 is responsible for communicating with the wireless probe 2, and the wireless charging module 311 is responsible for charging the wireless probe 2;

[0097] 3.2 The lifting module 304 is composed of a reciprocating screw 53, a slider 54, a winding sleeve 52 and a spline shaft 51. The stepper motor 303 drives the spline shaft 51 to rotate through a reducer, and the spline shaft 51 is meshed with the winding sleeve 52 through a spline, thereby driving the winding sleeve 52 to rotate; the bottom of the winding sleeve 52 is coaxially fixed with the slider 54, and the slider 54 is driven to rotate when the winding sleeve 52 rotates; the outer end of the pin in the slider 54 is embedded in the thread of the external thread of the reciprocating screw 53, and the reciprocating screw 53 is a fixed part. When the slider 54 rotates, it drives the pin in the slider 54 to rotate along the external thread of the reciprocating screw 53. Through the transmission effect of the external thread, the slider 54 also moves along the axial direction of the reciprocating screw 53 when rotating around the reciprocating screw 53, and drives the winding sleeve 52 to rotate and translate synchronously, thereby realizing the winding and unwinding functions;

[0098] 3.3 The wireless probe 2 and the lifting device 3 are connected by a lifting line 308. The wireless probe 2 itself has a waterproof function and can work at a depth of more than 60 meters underwater. A rubber waterproof sleeve 309 is installed at the outlet of the lifting device 3 to ensure that the lifting line 308 can support a water pressure of 1 meter without leaking while moving up and down, thereby ensuring the waterproofness of the lifting device 3;

[0099] 4. The wireless probe 2 has a built-in inclination sensor, a rechargeable battery and a management circuit. The lifting device 3 will lower the wireless probe 2 into the inclinometer tube 1 and then lift it at equal distances. When it stops at the measuring point, the wireless probe 2 will automatically record the inclination data.

Claims

1. An embedded automatic inclinometer robot, used to measure the inclination angle of an inclinometer tube (1) on the side wall of a foundation pit, and to convert the displacement of the side wall of the foundation pit in the horizontal direction due to deformation through the inclination angle, comprising a wireless probe (2), the wireless probe (2) being arranged in the inclinometer tube (1), and characterized in that: It also includes a lifting device (3) and a power supply box (4), The lifting device (3) is fixed on the top of the inclinometer casing (1), and the lifting device (3) includes a remote communication antenna (301), a main control circuit (302), a stepping motor (303), a lifting module (304), a fixed pulley (305), an encoder (306), a force sensor (307), a lifting line (308), a waterproof sleeve (309), a Bluetooth communication module (310), a wireless charging module (311) and a sealing shell (312). The remote communication antenna (301), the main control circuit (302), the stepping motor (303), the lifting module (304), the fixed pulley (305), the encoder (306), the force sensor (307), the lifting line (308), the waterproof sleeve (309), the Bluetooth communication module (310) and the wireless charging module (311) are all arranged in the sealed housing (312), the remote communication antenna (301) is arranged at the top of the sealed housing (312), and the Bluetooth communication module (310) and the wireless charging module (311) are arranged at the bottom of the sealed housing (312); The output shaft of the stepper motor (303) is connected to the input shaft of the lifting module (304); at least three fixed pulleys (305) are sequentially arranged on the outer side of the lifting module (304); an encoder (306) and a force sensor (307) are arranged on one of the fixed pulleys (305); one end of the lifting line (308) is tied to the lifting module (304); the other end of the lifting line (308) is sequentially wound around each fixed pulley (305) and then passes through the bottom of the sealed housing (312) to connect to the wireless probe (2); and a waterproof sleeve (309) is lined at the connection between the lifting line (308) and the sealed housing (312); The main control circuit (302) is respectively connected to the stepping motor (303), the encoder (306) and the force sensor (307) via communication lines, the Bluetooth communication module (310) and the wireless probe (2) are wirelessly connected via Bluetooth signals, and the wireless charging module (311) is connected to the wireless probe (2) via wireless charging signals; The power supply box (4) is connected to the lifting device (3) via a cable; Inclinometer grooves (13) are sequentially arranged at intervals on the inner side wall of the inclinometer tube (1), and lifting teeth (313) are sequentially arranged at intervals on the outer side wall of the sealing shell (312) of the lifting device (3). The number of the lifting teeth (313) is not more than the number of the inclinometer grooves (13), and the shape and size of the lifting teeth (313) match the shape and size of the inclinometer grooves (13). Each lifting tooth (313) is respectively embedded in an inclinometer groove (13) so that relative rotation does not occur between the lifting device (3) and the inclinometer tube (1); The lifting module (304) comprises a spline shaft (51), a winding sleeve (52), a reciprocating screw rod (53), a slider (54) and a lifting tube (55). The spline shaft (51), the winding sleeve (52), the reciprocating screw rod (53) and the slider (54) are all arranged in the lifting tube (55); the top end of the spline shaft (51) is arranged at the top of the lifting tube (55) as a rotating end and is connected to the output shaft of the stepping motor (303) through a reducer; the winding sleeve (52) is clamped outside the spline shaft (51); the winding sleeve (52) is inside the spline shaft (51). The protruding teeth and the key outside the spline shaft (51) are meshed with each other. The reciprocating screw rod (53) is arranged directly below the spline shaft (51). The bottom end of the reciprocating screw rod (53) is fixed to the bottom of the lifting tube (55). A pin is arranged in the slider (54). The slider (54) is screwed on the reciprocating screw rod (53) and the top of the slider (54) is fixed to the bottom of the winding shaft sleeve (52). The outer end of the pin in the slider (54) is embedded in the thread of the external thread of the reciprocating screw rod (53). One end of the lifting line (308) is tied to the winding shaft sleeve (52).

2. The embedded automatic inclinometer robot according to claim 1, characterized in that: The waterproof shaft sleeve (309) comprises a sealing member (61), a sealing gasket (62), a pressure plate (63) and a sealing screw (64). A through hole is provided at the bottom of the sealing housing (312). The sealing member (61) is conical and has a through hole at the center axis. The sealing member (61) is arranged on the outer side of the bottom of the sealing housing (312) and the tip of the sealing member (61) faces the bottom of the sealing housing (312). The through holes of the sealing member (61) and the sealing housing (312) are aligned with each other. The middle part of the sealing gasket (62) is provided with a through hole which forms an interference fit with the outer shape of the sealing member (61). The sealing gasket (62) is clamped on the outside of the sealing member (61) through a through hole in the middle, and a through hole is provided in the middle of the pressure plate (63) to form an interference fit with the bottom surface of the sealing member (61). The pressure plate (63) covers the bottom surface of the sealing gasket (62) and allows the bottom surface of the sealing member (61) to pass through the through hole in the middle of the pressure plate (63). The pressure plate (63), the sealing gasket (62) and the bottom of the sealing housing (312) are connected in sequence by at least two sealing screws (64), and the bottom end of the lifting line (308) passes through the through hole at the bottom of the sealing housing (312) and the through hole at the center axis of the sealing member (61) in sequence.

3. The method for using the embedded automatic inclinometer robot according to claim 1, characterized in that: Follow the steps below to implement: ① Installation: The lifting device (3) is placed in the inclinometer tube (1) and the top of the lifting device (3) is fixed at the entrance of the inclinometer tube (1), ensuring that the top of the lifting device (3) is flush with the ground at the test site; ② Power supply: one end of the cable is connected to the power supply box (4), and the other end of the cable is sealedly connected to the lifting device (3); ③ Setting: Setting the boost parameters, including sampling rate, boost interval, and total depth, to the main control circuit (302) through a cloud server or a smart mobile terminal; ④ Communication: After the parameters are set, if the sampling time has not yet arrived, the main control circuit (302) automatically communicates with the wireless probe (2) to put the wireless probe (2) into a dormant state; ⑤ Measurement: When the sampling time comes, the main control circuit (302) automatically performs a measurement. The measurement steps are as follows: ⑤.1 The lifting device (3) wakes up the wireless probe (2) through the Bluetooth communication module (310), and the wireless probe (2) starts to collect inclination data. ⑤.2 The main control circuit (302) drives the stepper motor (303) to rotate in the reverse direction, and the output shaft of the stepper motor (303) rotates in the reverse direction to drive the lifting module (304) to lower the wireless probe (2) at a uniform speed. ⑤.3 During the lowering process, the lifting device (3) records the data of the encoder (306) to measure the lowering depth. ⑤.4 When the wireless probe (2) is lowered to the set depth, the main control circuit (302) controls the stepping motor (303) to stop rotating. ⑤.5 Then the main control circuit (302) drives the stepper motor (303) to rotate in the forward direction. The forward rotation of the stepper motor (303) drives the lifting module (304) to lift the wireless probe (2) at a constant speed. ⑤.6 When the wireless probe (2) is lifted to the measuring point, the main control circuit (302) controls the stepping motor (303) to stop rotating. ⑤.7 The wireless probe (2) determines the posture of the wireless probe (2) itself based on the collected inclination data. When the data is stable, the wireless probe (2) automatically records the inclination data. ⑤.8 One minute after reaching the measuring point, the main control circuit (302) drives the stepping motor (303) to continue to rotate forward to lift the wireless probe (2) to the next measuring point. ⑤.9 Repeat steps ⑤.6 to ⑤.8 until the inclination data measurement of each measuring point is completed and the wireless probe (2) is lifted to the initial position. ⑤.10 After the wireless probe (2) returns to the initial position, the lifting device (3) communicates with the wireless probe (2) via the Bluetooth communication module (310) to obtain all the inclination data collected for each measuring point and the battery status of the wireless probe (2). ⑤.11 If the battery power of the wireless probe (2) is less than 90%, the lifting device (3) turns on the wireless charging module (311), and the wireless charging module (311) charges the wireless probe (2) until the battery power of the wireless probe (2) is fully charged. ⑤.12 The lifting device (3) adjusts the wireless probe (2) to a dormant state through the Bluetooth communication module (310), and stops the inclination measurement and battery status monitoring; ⑥ Send: At this point, a measurement is completed, and the lifting device (3) sends the data to the cloud monitoring platform through the LoRa or NB-IoT network.

4. The method for using the embedded automatic inclinometer robot according to claim 2, characterized in that: Follow the steps below to implement: ① Installation: The lifting device (3) is placed in the inclinometer tube (1) and the top of the lifting device (3) is fixed at the entrance of the inclinometer tube (1), ensuring that the top of the lifting device (3) is flush with the ground at the test site; ② Power supply: one end of the cable is connected to the power supply box (4), and the other end of the cable is sealedly connected to the lifting device (3); ③ Setting: Setting the boost parameters, including sampling rate, boost interval, and total depth, to the main control circuit (302) through a cloud server or a smart mobile terminal; ④ Communication: After the parameters are set, if the sampling time has not yet arrived, the main control circuit (302) automatically communicates with the wireless probe (2) to put the wireless probe (2) into a dormant state; ⑤ Measurement: When the sampling time comes, the main control circuit (302) automatically performs a measurement. The measurement steps are as follows: ⑤.1 The lifting device (3) wakes up the wireless probe (2) through the Bluetooth communication module (310), and the wireless probe (2) starts to collect inclination data. ⑤.2 The main control circuit (302) drives the stepper motor (303) to rotate in the reverse direction, and the output shaft of the stepper motor (303) rotates in the reverse direction to drive the lifting module (304) to lower the wireless probe (2) at a uniform speed. ⑤.3 During the lowering process, the lifting device (3) records the data of the encoder (306) to measure the lowering depth. ⑤.4 When the wireless probe (2) is lowered to the set depth, the main control circuit (302) controls the stepping motor (303) to stop rotating. ⑤.5 Then the main control circuit (302) drives the stepper motor (303) to rotate in the forward direction. The forward rotation of the stepper motor (303) drives the lifting module (304) to lift the wireless probe (2) at a constant speed. ⑤.6 When the wireless probe (2) is lifted to the measuring point, the main control circuit (302) controls the stepping motor (303) to stop rotating. ⑤.7 The wireless probe (2) determines the posture of the wireless probe (2) itself based on the collected inclination data. When the data is stable, the wireless probe (2) automatically records the inclination data. ⑤.8 One minute after reaching the measuring point, the main control circuit (302) drives the stepping motor (303) to continue to rotate forward to lift the wireless probe (2) to the next measuring point. ⑤.9 Repeat steps ⑤.6 to ⑤.8 until the inclination data measurement of each measuring point is completed and the wireless probe (2) is lifted to the initial position. ⑤.10 After the wireless probe (2) returns to the initial position, the lifting device (3) communicates with the wireless probe (2) via the Bluetooth communication module (310) to obtain all the inclination data collected for each measuring point and the battery status of the wireless probe (2). ⑤.11 If the battery power of the wireless probe (2) is less than 90%, the lifting device (3) turns on the wireless charging module (311), and the wireless charging module (311) charges the wireless probe (2) until the battery power of the wireless probe (2) is fully charged. ⑤.12 The lifting device (3) adjusts the wireless probe (2) to a dormant state through the Bluetooth communication module (310), and stops the inclination measurement and battery status monitoring; ⑥ Send: At this point, a measurement is completed, and the lifting device (3) sends the data to the cloud monitoring platform through the LoRa or NB-IoT network.

5. The method for using the embedded automatic inclinometer robot according to claim 3, characterized in that: In step ③, the communication method between the main control circuit (302) and the cloud server or the smart mobile terminal is the LoRa communication protocol or the NB-IoT communication protocol. When the LoRa communication protocol is selected, a LoRa gateway is provided at the test site to network multiple local devices, so that the main control circuit (302) is connected to the cloud server or the smart mobile terminal through the LoRa gateway. When the NB-IoT communication protocol is selected, the main control circuit (302) is directly connected to the cloud server; In step ⑤, during the process of lifting and lowering the wireless probe (2), when the position measured by the main control circuit (302) according to the data of the encoder (306) is in the automatic charging position, the main control circuit (302) controls the stepper motor (303) to stop, the lifting device (3) to brake, and the wireless probe (2) starts to charge; when the main control circuit (302) determines that the lifting device (3) is stuck according to the tension value measured by the force sensor (307), the main control circuit (302) controls the stepper motor (303) to stop, the lifting device (3) to brake, and sends out an alarm message at the same time, waiting for manual processing.

6. The method for using the embedded automatic inclinometer robot according to claim 4, characterized in that: In step ③, the communication method between the main control circuit (302) and the cloud server or the smart mobile terminal is the LoRa communication protocol or the NB-IoT communication protocol. When the LoRa communication protocol is selected, a LoRa gateway is provided at the test site to network multiple local devices, so that the main control circuit (302) is connected to the cloud server or the smart mobile terminal through the LoRa gateway. When the NB-IoT communication protocol is selected, the main control circuit (302) is directly connected to the cloud server; In step ⑤, during the process of lifting and lowering the wireless probe (2), when the position measured by the main control circuit (302) according to the data of the encoder (306) is in the automatic charging position, the main control circuit (302) controls the stepper motor (303) to stop, the lifting device (3) to brake, and the wireless probe (2) starts to charge; when the main control circuit (302) determines that the lifting device (3) is stuck according to the tension value measured by the force sensor (307), the main control circuit (302) controls the stepper motor (303) to stop, the lifting device (3) to brake, and sends out an alarm message at the same time, waiting for manual processing.

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