Comprehensive geological disaster monitoring system

Abstract

The invention discloses a comprehensive geological disaster monitoring system, which comprises a cloud control platform and more than two comprehensive monitoring devices, and is characterized in that each comprehensive monitoring device is connected to the cloud control platform through a 4G / 5G communication module; the comprehensive monitoring equipment is set as GNSS base station alternative equipment or GNSS base station non-alternative equipment, the GNSS base station alternative equipment can be set as a GNSS base station or a GNSS moving station, and the GNSS base station non-alternative equipment can only be set as the GNSS moving station; the cloud control platform sets one GNSS base station alternative device as a GNSS base station, and sets other integrated monitoring devices as GNSS moving stations; if the current GNSS base station breaks down, the cloud control platform selects one GNSS base station alternative device from the current GNSS moving station and sets the GNSS base station alternative device as the GNSS base station. The comprehensive monitoring equipment is additionally provided with a three-axis acceleration sensor. The system has the beneficial effects that the system can deploy the GNSS base station, so that the reliability is improved; the comprehensive monitoring device is additionally provided with a three-axis acceleration sensor so that deep displacement can be monitored.

Description

Technical Field

[0001] The invention relates to the technical field of geological disaster monitoring, in particular to a comprehensive geological disaster monitoring system. Background Art

[0002] Geological disasters usually refer to disasters that cause loss of life and property due to geological action. Geological disasters occur under certain dynamic induction (destruction). Some of the inducing forces are natural, and some are man-made. Therefore, in theory, geological disasters can be divided into two categories according to their dynamic causes: natural geological disasters and man-made geological disasters. The location, scale and frequency of natural geological disasters are controlled by natural geological conditions and are not affected by the development of human history; while man-made geological disasters are restricted by human engineering development activities and often increase with social and economic development. In a sense, the potential danger of geological disasters is controlled by multiple conditions and is uncertain. In order to minimize the losses caused by geological disasters, monitoring of areas prone to geological disasters and early warning and evacuation are currently the most effective disaster reduction measures.

[0003] Since the causes of geological disasters are complex and even affected by both natural conditions and human activities, the use of a single targeted monitoring device in the actual geological disaster monitoring and early warning application has a poor effect when monitoring areas prone to geological disasters, and some areas where geological disasters occur do not have the conditions to install monitoring equipment again later. In order to more accurately monitor geological activities, predict impending disasters and take corresponding disaster reduction measures, comprehensive monitoring equipment capable of monitoring multiple geological conditions should be used when monitoring areas prone to geological disasters. The monitoring objects usually include but are not limited to wind direction, rainfall, humidity, temperature, soil displacement, vibration, etc.

[0004] The current comprehensive geological disaster monitoring equipment usually uses GNSS displacement sensors when monitoring soil displacement. The GNSS-based positioning system generally includes a base station and a mobile station, both of which are equipped with satellite receivers for observing and receiving satellite data. The base station is a base station that provides a reference benchmark, while the mobile station is the monitoring object that measures its own three-dimensional coordinates. When using GNSS to monitor shallow soil displacement, the base station equipment is usually installed in a place with a relatively stable geological structure and a wide field of view, and the three-dimensional coordinate information of the base station is generally known. The base station first observes and receives satellite data, and then sends the observation data to the mobile station in real time through a nearby radio station (usually 4G / 5G); the mobile station also observes and receives satellite data while receiving the base station data; the mobile station performs real-time differential operations based on the base station data and its own data according to the principle of relative positioning, and solves the three-dimensional coordinates and accuracy of the mobile station, thus completing the mobile station installation position monitoring. The solved data is sent to the server, which can compare the coordinate information solved this time with the previous coordinate information to confirm whether there is a relative displacement between the points of the mobile station and the base station, so as to determine whether a landslide occurs at the monitoring point.

[0005] Therefore, the existing GNSS-based comprehensive monitoring system usually has the following characteristics:

[0006] 1. Due to the GNSS base station and mobile station setting mode, in actual applications, monitoring equipment equipped with GNSS mostly adopts a master-slave combination mode to operate: in a specific monitoring area, a master control device and multiple slave monitoring devices are required. The GNSS of the master control device is set as a base station, and the slave monitoring device is set as a mobile station.

[0007] 2. The slave monitoring equipment is equipped with a variety of sensors to monitor a variety of geological conditions. The slave equipment sends the data information collected by the sensors to the master control equipment in the area through wireless communication between devices, and then the master control equipment uploads it to the server, waits for the server to analyze the data, and then broadcasts the warning.

[0008] 3. In this master-slave mode, the master device is mainly responsible for the unified aggregation and uploading of monitoring data from other sensors, and the server is mainly responsible for communicating with the host device after analyzing the data, transmitting some device-side instructions, which are then relayed by the master device to each slave device.

[0009] However, this operation mode in which the host device uniformly processes and uploads monitoring data has certain disadvantages in the existing GNSS-based integrated monitoring system, including:

[0010] 1. When the GNSS base station of the host fails, the monitoring devices of each slave cannot calculate the coordinates of their own monitoring points based on the base station coordinate information. It is impossible to know whether shallow displacement has occurred at each monitoring point in the monitoring area, which seriously affects the server's accurate judgment of the geological status of the monitoring area.

[0011] 2. The GNSS displacement sensor installation method and its working principle determine that it is only suitable for measuring shallow displacement, and whether the deep soil layer moves cannot be well reflected through the solution results. However, sometimes the initial manifestation of geological disasters is not on the surface, so only monitoring shallow displacement as a reference for geological disasters has certain limitations.

[0012] 3. In the traditional operation mode based on slave devices collecting data and summarizing it to the master device for communication, when the communication module of the master device fails, the master device may not be able to obtain the collected data from the slave device, or upload the summarized data to the server, or obtain the device-side instructions from the server. Any of the above situations will cause the entire monitoring system to be paralyzed.

[0013] 4. The traditional architecture of collecting data from slaves and summarizing it to the host for data communication has a certain communication delay: the data collected by the sensors is transmitted by each monitoring device to the master device for summary and then uploaded to the server, which performs data analysis and makes decisions; similarly, the device-side instructions are uniformly sent by the server to the master device, which then communicates to each slave monitoring device to execute the instructions. However, in actual applications, many geological movements occur in an instant, and the effective change data corresponding to geological disasters only occurs within a few seconds or even shorter. Therefore, this traditional communication architecture cannot truly achieve high-precision collection of effective data under actual circumstances, and cannot guarantee the effectiveness and real-time nature of monitoring data.

[0014] The above problems may have an adverse impact on the normal operation of the monitoring system. Once the server is unable to timely and accurately judge the current situation of the monitoring area and cannot make correct decisions, it will have a serious impact on the accuracy and timeliness of geological disaster monitoring and early warning. Summary of the invention

[0015] The purpose of the present invention is to provide a comprehensive geological disaster monitoring system capable of deploying GNSS base stations.

[0016] The technical solution of the present invention is as follows:

[0017] A comprehensive geological disaster monitoring system, comprising two or more comprehensive monitoring devices; the comprehensive monitoring device comprises a GNSS displacement sensor, a microprocessor and a 4G / 5G communication module, the GNSS displacement sensor and the 4G / 5G communication module are respectively connected to the microprocessor; it also comprises a cloud control platform, each comprehensive monitoring device is connected to the cloud control platform via a 4G / 5G communication module; the comprehensive monitoring device is set as a GNSS base station alternative device or a GNSS base station non-alternative device, the GNSS base station alternative device can be set as a GNSS base station or a GNSS mobile station, and the GNSS base station non-alternative device can only be set as a GNSS mobile station ; The cloud control platform is used to set a GNSS base station alternative device as a GNSS base station, and other comprehensive monitoring devices as GNSS mobile stations; if the current GNSS base station fails, the cloud control platform selects a GNSS base station alternative device from the current GNSS mobile station and sets it as a GNSS base station; the microprocessor is used to preprocess the sampling data of the sensor, and the 4G / 5G communication module is used to upload the preprocessed sampling data of the sensor to the cloud control platform; the cloud control platform is also used to receive the sampling data of the sensors preprocessed by all comprehensive monitoring devices, and analyze the sampling data to obtain monitoring results.

[0018] Preferably, the cloud control platform selects a GNSS base station candidate device from the current GNSS mobile station and sets it as the GNSS base station. Specifically, the cloud control platform calculates the distance between each GNSS base station candidate device in the current GNSS mobile station and other GNSS mobile stations, and calculates the variance value of the distance; selects the GNSS base station candidate device with the smallest variance value and sets it as the GNSS base station.

[0019] Preferably, the current GNSS base station fails, specifically: a GNSS displacement sensor fails, or a communication failure occurs between the GNSS base station and the cloud control platform.

[0020] Preferably, the integrated monitoring device further comprises an inclination sensor connected to the microprocessor, and the inclination sensor is used to determine whether the integrated monitoring device has fallen over; the current GNSS base station fails, specifically: the integrated monitoring device serving as the current GNSS base station has fallen over.

[0021] Preferably, the comprehensive monitoring device further comprises a battery and a solar panel; the current GNSS base station fails, specifically, the battery or the solar panel fails.

[0022] Furthermore, the comprehensive monitoring device also includes a three-axis acceleration sensor connected to the microprocessor; the three-axis acceleration sensor is used to sample deep displacement data.

[0023] Furthermore, the comprehensive monitoring device also includes a rainfall sensor, a microseismic sensor and / or a ground vibration sensor respectively connected to the microprocessor.

[0024] Furthermore, the microprocessor of the integrated monitoring device also uses a sliding window algorithm to calculate the standard deviation of the sampling data of any current sensor and its window data. If the standard deviation reaches a preset threshold, the sensor is triggered to perform double frequency sampling.

[0025] Furthermore, the integrated monitoring device also includes a Lora communication module connected to a microprocessor; if any sensor of any integrated monitoring device performs double frequency sampling, the integrated monitoring device communicates with other integrated monitoring devices through Lora, so that the corresponding sensors of other integrated monitoring devices perform double frequency sampling.

[0026] Furthermore, the comprehensive monitoring equipment also includes a Beidou communication module connected to the microprocessor; the comprehensive monitoring equipment is also connected to the cloud control platform through the Beidou communication module; if the 4G / 5G network service fails and the 4G / 5G communication module of the comprehensive monitoring equipment cannot be connected to the cloud control platform, the Beidou communication module will upload the pre-processed sampling data of each sensor to the cloud control platform through Beidou short messages.

[0027] The beneficial effects of the present invention are that the system can deploy GNSS base stations to improve reliability; the comprehensive monitoring equipment can monitor deep displacement by adding a three-axis acceleration sensor; the comprehensive monitoring equipment can achieve high-precision data collection through sensor frequency doubling sampling and Lora communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a system structure diagram of the present invention.

[0029] Figure 2 This is the flow chart of sensor frequency doubling sampling and Lora communication.

[0030] Figure 3 It is a flowchart for deploying GNSS base stations. DETAILED DESCRIPTION

[0031] The present invention provides a comprehensive geological disaster monitoring and early warning system with a certain autonomous decision-making ability, including multiple comprehensive monitoring devices and a cloud control platform, wherein the configurations of the monitoring devices laid in the monitoring area are the same. The GNSS displacement sensors installed in each monitoring device can be configured as a base station or a mobile station through instructions issued by the cloud control platform, and at the same time, according to the specific conditions of the monitoring plan and the monitoring point, the cloud control platform issues instructions to enable the required sensors to realize the monitoring requirements.

[0032] Example

[0033] like Figure 1As shown, each integrated monitoring device includes a GNSS displacement sensor, which can monitor geological data of surface displacement of soil or rock formations.

[0034] A three-axis acceleration sensor is also added to realize the function of monitoring the deep displacement of soil or rock formations, which can make up for the limitation that the GNSS displacement sensor can only monitor shallow displacement.

[0035] It also integrates rainfall sensors, microseismic sensors, and ground vibration sensors, which can monitor climate and rainfall conditions, seismic waves, etc. Among them, the microseismic sensor is for vibrations inside the rock layer (including small vibrations caused by artificial blasting and mining, and natural geological movements inside the mountain that lead to rock layer fragmentation and compression); the ground vibration sensor is for vibrations caused by falling rocks and landslides.

[0036] Each integrated monitoring device is equipped with a LoRa module, a 4G / 5G communication module, and a Beidou communication module, which supports different modes of communication for different purposes under different network or base station conditions. Among them, LoRa can be used for synchronous frequency sampling of monitoring equipment, quickly and on a large scale to capture key change data and achieve high-precision collection; 4G / 5G communication modules and Beidou communication modules are used for data communication between monitoring equipment and cloud control platforms.

[0037] The comprehensive monitoring equipment is installed according to the set points of the monitoring plan. There is no need to consider the differences in equipment configuration during installation. After installation, the cloud control platform sets the GNSS mode and enables the corresponding sensors to start monitoring.

[0038] The MCU microprocessor can perform edge computing and preliminary judgment on the data collected by the sensor, and independently decide whether to increase the sampling frequency and data storage and transmission frequency of the sensor based on the judgment results. The MCU can choose to modify the networking mode in emergency situations. Under normal circumstances, the monitoring equipment and the cloud control platform communicate through the 4G / 5G wireless network. In emergency situations, it can be converted to Beidou short text broadcasts, and the monitoring data can be uploaded to the cloud control platform through Beidou.

[0039] Under normal circumstances, the cloud control platform turns on the sensors needed for monitoring equipment and sets the initial operating frequency and data upload frequency of the sensors. It receives, stores and analyzes various monitoring data uploaded by each monitoring device, conducts in-depth analysis of the received data along the timeline, and performs real-time analysis of the collected data based on the big data model. It generates early warning information based on the analysis results and sends the early warning information to relevant personnel and institutions in real time through various communication methods (such as SMS, email, and online platforms) so that timely preventive measures can be taken.

[0040] When a comprehensive monitoring device set as a GNSS base station fails and the communication between the cloud control platform and other monitoring devices set as GNSS mobile stations is normal, alternative monitoring equipment that can be set as a GNSS base station in the monitoring area (usually comprehensive monitoring equipment installed in places with relatively stable geological structures and wide fields of view) is quickly deployed, and a replacement instruction is issued to it to set its GNSS as a base station to achieve network reorganization of the monitoring system.

[0041] Each monitoring device has a regular self-check function to proactively detect or report its own faults as much as possible.

[0042] The aforementioned integrated monitoring device configured as a GNSS base station fails, which may be a GNSS displacement sensor failure, or a communication failure between the GNSS base station and the cloud control platform.

[0043] If the integrated monitoring device is provided with a tilt sensor connected to a microprocessor for determining whether the integrated monitoring device has fallen over, then a failure of the integrated monitoring device configured as a GNSS base station may also be the cause of the falling over of the integrated monitoring device.

[0044] If the integrated monitoring device is powered by batteries and solar panels, then a failure of the integrated monitoring device configured as a GNSS base station may also be caused by a failure of the batteries or the solar panels.

[0045] The cloud control platform will search for other alternative monitoring devices in the monitoring area that have the conditions to set up GNSS as a base station, and select the best replacement equipment through an algorithm to replace the failed or offline base station equipment. This will avoid the problem that the system cannot calculate the position information due to the failure of the GNSS base station to go offline, or the position information calculation data error is too large, and it cannot accurately monitor the shallow displacement, so as to avoid affecting the normal monitoring function of the geological disaster monitoring and early warning system.

[0046] When the cloud control platform cannot communicate with any monitoring device through the 4G / 5G wireless network, it switches to Beidou communication mode, starts the device reconnection mechanism, and attempts to obtain the device's operating status and self-test information. If it still cannot communicate with the monitoring device, it will issue a warning with the worst result and send an alert to relevant personnel and institutions that monitoring anomalies require vigilance against possible disasters.

[0047] Since the hardware configuration of each monitoring device is the same, there is no need to consider the differences in equipment when installing the monitoring points, and they can be directly installed according to the design points of the monitoring plan. After installation, the cloud control platform is used for unified settings, and the GNSS sensors in the devices installed at specific points in the monitoring plan are configured as base station mode, and the GNSS sensors in the devices at other monitoring points are configured as rover mode, and the corresponding sensors are turned on according to the geological objects that need to be monitored at the installation points of each monitoring device.

[0048] Under normal circumstances, the sensors of the monitoring equipment are sampled at a fixed frequency, and the data is transmitted to the cloud control platform at the same frequency through the communication module. Each monitoring device can monitor various geological data including climate rainfall, seismic waves, surface and deep displacement of soil or rock layers through a variety of sensors including rainfall sensors, microseismic sensors, surface vibration sensors, GNSS displacement sensors, and three-axis acceleration sensors, to achieve comprehensive geological monitoring of the monitoring area.

[0049] When the microprocessor of the monitoring device pre-processes the obtained sensor data and determines that the data has an abnormal change trend, the microprocessor will autonomously speed up the data collection and storage and increase the frequency of uploading data to the cloud control platform. The abnormal state can also be transmitted to nearby devices through Lora communication, so that multiple related monitoring devices in the monitoring area can collect, store and upload sensor data together at variable frequencies. Equipping the device with an MCU for edge computing and autonomous decision-making can compensate for the negative impact of communication delays with the cloud control platform, improve the monitoring equipment's ability to capture key change data of short-lived geological movements, ensure more accurate monitoring data, and provide more useful monitoring data for the prediction model of geological disasters.

[0050] The system works as follows:

[0051] Under normal circumstances, the monitoring equipment needs to be initially set up after installation. The GNSS of the monitoring equipment installed at the set point is set as a base station, and the GNSS sensors of other nearby equipment are set as mobile stations. The corresponding sensors are turned on according to the physical objects to be monitored at the installation point of the monitoring equipment. Each device can monitor various geological conditions including climate and rainfall conditions, seismic waves, surface and deep displacement of soil or rock layers, etc. Under normal circumstances, the sensors of the monitoring equipment sample at a preset fixed frequency, and transmit the data to the data management center at the same frequency through the communication module.

[0052] The working method of the GNSS displacement sensor is as follows: the monitoring device set as a GNSS base station calculates the received satellite measurement data and the device's own installation position data to obtain differential data, and then sends the differential data to the cloud control platform through the 4G / 5G network; the mobile station monitoring device receives the differential data sent by the base station from the cloud control platform through the 4G / 5G network and solves it. After obtaining the coordinate data of the mobile station device itself, it is synchronously sent to the cloud control platform. At the same time, the MCU of the mobile station monitoring device itself compares the coordinate data after this solution with the data solved last time, and preliminarily determines whether the installation point of the mobile station monitoring device has been displaced.

[0053] The additional three-axis acceleration sensor has the function of monitoring the deep displacement of soil or rock. The specific implementation method is: the three-axis acceleration sensor is placed in a hollow metal rod, the metal rod is buried deep in the soil or rock layer, and the three-axis acceleration sensor is directly connected to the microprocessor through an anti-corrosion and anti-fouling cable connected to the metal rod. When deep displacement occurs, the metal rod will tilt. After the built-in three-axis acceleration angle sensor detects the tilt angle, the sensor data is transmitted to the MCU through the cable. The MCU calculates the horizontal displacement distance of the deep soil. At the same time, the MCU will compare it with the result of the previous calculation to preliminarily determine whether deep displacement occurs and whether the displacement trend increases.

[0054] like Figure 2 As shown in the figure, after the MCU of the monitoring device performs edge computing on the various sensor data obtained, it can decide whether to increase the sampling frequency according to the data change trend. If the microprocessor determines that there is an abnormal change trend in a certain sensor data, it will autonomously increase the data collection frequency and storage frequency of all sensors of the device, and increase the frequency of uploading data to the data management center. It can also communicate with other monitoring devices through Lora communication to achieve synchronous accelerated collection, storage and uploading of all monitoring devices in the monitoring area. Edge computing and autonomous decision-making through MCU on the device side can make up for the negative impact of communication delays between the device and the cloud control platform, improve the monitoring equipment's ability to capture key change data of short-lived geological movements, ensure more accurate monitoring data, and provide more useful monitoring data for the prediction model of geological disasters.

[0055] Among them, the data collected by the microseismic sensor has an abnormal trend of change. The specific implementation method of triggering the device's variable frequency collection, storage and upload is: the MCU uses sliding window technology to calculate the mean and standard deviation of the vibration signal to achieve adaptive dynamic thresholds under different environments; when the window is set to 100 groups of data, the MCU calculates the standard deviation of the input data and the window data, and sets the standard deviation to 2 times, triggering 4 times the initial rate of variable frequency collection, storage and data upload.

[0056] The collected data of GNSS displacement sensor and three-axis acceleration sensor have abnormal change trend, which triggers the specific implementation method of variable frequency collection, storage and upload of the equipment: sliding window technology is used to calculate the mean and standard deviation of displacement data, and adaptive dynamic threshold is realized under different environments; when the window is set to 100 sets of data, the microprocessor calculates the standard deviation of input data and window data. When the standard deviation is 2 times, it is identified as abnormal sensor data change, triggering variable frequency collection, storage and data upload at 2 initial rates.

[0057] Here, the MCU determines that the data collected by the sensor has an abnormal change trend and then independently implements the idea of ​​variable frequency collection, variable frequency storage and transmission. The sensors from which the data comes are not limited to GNSS sensors, microseismic sensors and three-axis acceleration sensors, but are suitable for various integrated sensors. The selection of the specific frequency conversion rate for sensor collection and data upload varies depending on the amount of data collected by the specific sensor.

[0058] Each monitoring device has a timed self-check function, which is used to proactively discover or report its own faults as much as possible. The specific manifestations of self-check faults include: the device MCU has not received data processing requests and data communication requests from various sensors and communication modules within 5 times the communication cycle, the MCU has detected a communication module failure, the MCU has detected a device tipping over, the device's battery charging and discharging failure, and the solar charging failure, etc.

[0059] In addition to discovering faults through the equipment's scheduled self-inspection, when the cloud control platform fails to receive the location information sent by the base station equipment within a certain period of time, it will also be considered that the base station monitoring equipment has a communication anomaly or its GNSS sensor has failed and will perform the following processing: the cloud control platform will deploy other alternative monitoring equipment in the monitoring area that have the conditions to be set as GNSS base stations, and will issue setting instructions to them to take over and replace the offline GNSS base station, so as to avoid the monitoring system being unable to monitor shallow displacement through GNSS position information solution due to base station failure and offline, thereby affecting the normal function of the geological disaster monitoring and early warning system.

[0060] like Figure 3 As shown, the specific implementation method of the cloud control platform to determine whether the GNSS sensor of the monitoring equipment can be set as a GNSS base station is as follows: based on the design of the monitoring plan and the historical location data of the actual equipment installation, the cloud control platform can obtain the geological conditions of each installation point, thereby obtaining several candidate devices that meet the conditions in the monitoring area (i.e., comprehensive monitoring equipment installed in places with relatively stable geological structures and wide fields of view), and calculate the relative distance between each candidate monitoring device and other devices set as GNSS mobile stations, and calculate the variance value of the distance, select the monitoring device with the smallest variance value as the optimal solution, send a setting instruction to the device, and set it as a new GNSS base station.

[0061] When the MCU of each monitoring device determines that the data has changed and the trend of change is increasing during the edge computing process of its sensor data, the specific implementation method of frequency conversion acquisition and frequency conversion transmission is: the MCU of each monitoring device will autonomously transmit instructions to each sensor module, increase the sampling rate of the sensor, increase the data storage rate and storage space, start the external flash communication cache, start ping-pong transmission, and ensure that the data is transmitted to the data management center at the same frequency. At the same time, the frequency conversion acquisition and transmission instructions are sent to the other monitoring devices in the area through Lora communication, realizing the synchronous accelerated acquisition, storage and upload of all monitoring devices in the area.

[0062] It should be noted that, under normal circumstances, each monitoring device using GNSS position sensors for shallow displacement monitoring requires data communication between the 4G / 5G wireless network and the cloud control platform; and the data monitored by other sensors must be uploaded to the cloud control platform through the 4G / 5G wireless network for analysis and judgment after being pre-processed by the monitoring device MCU; when the following emergency situations occur, the system will autonomously switch the communication mode and reorganize the communication network of the monitoring system. The specific implementation method is: when the 4G / 5G network service base station fails and there is no 4G / 5G network in the monitoring area, each monitoring device detects a 4G / 5G communication failure (or the device MCU finds that the 4G / 5G network has a serious delay and exceeds the system's own communication cycle by more than 5 times), the device automatically switches to Beidou communication, and uploads various sensor collection data including GNSS position solution information to the cloud control platform using Beidou short text.

[0063] The present invention improves the reliability of the monitoring system and ensures the validity of the monitoring data. Based on the non-differentiated hardware configuration of each comprehensive monitoring device, the present invention realizes the switching of the GNSS base station and the mobile station through the cloud control platform to autonomously allocate and issue equipment instructions, so as to avoid the paralysis of the entire shallow displacement monitoring function in the GNSS sensor monitoring network due to the failure of the GNSS base station; by enabling the monitoring device MCU to perform edge computing on the data collected by each sensor, the monitoring device can actively accelerate the collection, storage and upload of sensor data for data with abnormal change trends before the cloud control platform issues instructions, so as to avoid missing key change data due to the communication delay of the cloud control platform, and improve the validity of the monitoring data; at the same time, the device that preferentially finds data anomalies communicates with other monitoring devices through Lora, and can realize the synchronous accelerated collection, storage and upload of all monitoring devices in the monitoring area before the cloud control platform issues instructions to other devices; the device MCU judges the current 4G / 5G communication network conditions, and the device can perform dynamic communication networking according to the actual situation, avoiding the impact of 4G / 5G base station failures on the entire monitoring system, and better adapting to the complex and changeable geological environment.

[0064] The present invention comprehensively improves the reliability and effectiveness of the entire monitoring and early warning system. The system can autonomously respond to changing environments. After edge computing of the collected data, the MCU can realize autonomous frequency conversion to capture, store and upload key data of all devices in the monitoring area. At the same time, it can autonomously select the communication method with the cloud control platform according to the real-time communication network situation, thereby enhancing the role of the geological disaster monitoring and early warning system in geological disaster warning and disaster prevention and mitigation guidance from many aspects.

Claims

1. A comprehensive geological disaster monitoring system, characterized in that: It includes two or more integrated monitoring devices; the integrated monitoring devices include a GNSS displacement sensor, a microprocessor and a 4G / 5G communication module, the GNSS displacement sensor and the 4G / 5G communication module are respectively connected to the microprocessor; it also includes a cloud control platform, each integrated monitoring device is connected to the cloud control platform through the 4G / 5G communication module; The comprehensive monitoring device is set as a GNSS base station candidate device or a GNSS base station non-candidate device. The GNSS base station candidate device can be set as a GNSS base station or a GNSS mobile station, and the GNSS base station non-candidate device can only be set as a GNSS mobile station; The cloud control platform is used to set one GNSS base station candidate device as a GNSS base station and other comprehensive monitoring devices as GNSS mobile stations; If the current GNSS base station fails, the cloud control platform selects a GNSS base station backup device from the current GNSS rover and sets it as the GNSS base station; The microprocessor is used to pre-process the sampling data of the sensor, and the 4G / 5G communication module is used to upload the pre-processed sampling data of the sensor to the cloud control platform; The cloud control platform is also used to receive the sampling data of the sensors pre-processed by all the comprehensive monitoring equipment, and analyze the sampling data to obtain the monitoring results.

2. The comprehensive geological disaster monitoring system according to claim 1, characterized in that: The cloud control platform selects a GNSS base station candidate device from the current GNSS mobile station and sets it as the GNSS base station. Specifically, the cloud control platform calculates the distance between each GNSS base station candidate device in the current GNSS mobile station and other GNSS mobile stations, and calculates the variance value of the distance; The GNSS base station candidate device with the smallest variance value is selected and set as the GNSS base station.

3. The comprehensive geological disaster monitoring system according to claim 1, characterized in that: The current GNSS base station fails, specifically: a GNSS displacement sensor fails, or a communication failure occurs between the GNSS base station and the cloud control platform.

4. The comprehensive geological disaster monitoring system according to claim 1, characterized in that: The integrated monitoring device further comprises a tilt sensor connected to the microprocessor, and the tilt sensor is used to determine whether the integrated monitoring device has fallen over; the current GNSS base station fails, specifically: the integrated monitoring device serving as the current GNSS base station has fallen over.

5. The comprehensive geological disaster monitoring system according to claim 1, characterized in that: The comprehensive monitoring device also includes a battery and a solar panel; the current GNSS base station fails, specifically: the battery or the solar panel fails.

6. The comprehensive geological disaster monitoring system according to claim 1, characterized in that: The comprehensive monitoring device also includes a three-axis acceleration sensor connected to the microprocessor; the three-axis acceleration sensor is used to sample deep displacement data.

7. The comprehensive geological disaster monitoring system according to claim 1, characterized in that: The comprehensive monitoring device also includes a rainfall sensor, a microseismic sensor and / or a ground vibration sensor respectively connected to the microprocessor.

8. The comprehensive geological disaster monitoring system according to claim 1, 6 or 7, characterized in that: The microprocessor of the comprehensive monitoring device also uses a sliding window algorithm to calculate the standard deviation of the sampling data of any current sensor and its window data. If the standard deviation reaches a preset threshold, the sensor is triggered to perform double frequency sampling.

9. The comprehensive geological disaster monitoring system according to claim 8, characterized in that: The comprehensive monitoring device also includes a Lora communication module connected to the microprocessor; if any sensor of any comprehensive monitoring device is sampled at double frequency, the comprehensive monitoring device communicates with other comprehensive monitoring devices through Lora, so that the corresponding sensors of other comprehensive monitoring devices are sampled at double frequency.

10. The comprehensive geological disaster monitoring system according to claim 1, 6 or 7, characterized in that: The comprehensive monitoring equipment also includes a Beidou communication module connected to the microprocessor; the comprehensive monitoring equipment is also connected to the cloud control platform through the Beidou communication module; if the 4G / 5G network service fails and the 4G / 5G communication module of the comprehensive monitoring equipment cannot be connected to the cloud control platform, the Beidou communication module uploads the pre-processed sensor sampling data to the cloud control platform through a Beidou short message.

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