Surface displacement monitoring device and intelligent monitoring method based on Beidou GNSS

Abstract

The invention discloses a Beidou GNSS-based surface displacement monitoring device and an intelligent monitoring method, and the method comprises the steps: achieving the large-range remote self-adaptive rapid installation based on the separable connection of an unmanned plane with a pedestal and a field monitoring node in an electromagnetic manner, and carrying out the wireless communication transmission between a monitoring core module and a terminal, the displacement in a high slope scene is accurately monitored, hoisting of the base achieves an anchoring effect through a threshold opening embedded structure, the device can be applied to different monitoring scenes and adapt to grounds with different flatness, and the stability of the device is kept; the photosensitive sensor array senses the change of ambient light and drives the photovoltaic power generation panel to twist coordinately, so that the light energy utilization efficiency is effectively improved. According to the method, surface displacement safety monitoring and disaster assessment early warning are realized for key areas which are represented by high slope monitoring and are difficult to reach by manpower, and the method has very important significance.

Description

Technical Field

[0001] The present invention relates to the field of civil engineering monitoring technology, and in particular to a surface displacement monitoring device and an intelligent monitoring method based on Beidou GNSS. Background Art

[0002] In recent years, with the rapid development of infrastructure construction, the demand for monitoring structural safety and stability in the civil engineering field has continued to increase. Surface displacement monitoring is an important means to prevent disasters such as landslides and foundation settlements, and is widely used in engineering projects. With the development of the Beidou global navigation satellite system, its high-precision positioning technology has great application potential in the field of displacement monitoring. However, the existing GNSS (Global Navigation Satellite System) monitoring system is complex to install and time-consuming to deploy, and it is difficult to adapt to the changing on-site environment.

[0003] Therefore, for structures serving in difficult environments represented by high slope environments, it is of great significance to invent a low-cost, high-precision, adaptive wireless monitoring system for surface displacement that can be adaptively and quickly installed over a large range. Summary of the invention

[0004] The purpose of the present invention is to provide a surface displacement monitoring device and an intelligent monitoring method based on Beidou GNSS, which have the advantages of low cost, easy installation and high precision, and are of great significance for realizing the adaptive installation and use of a surface displacement adaptive wireless monitoring system in a large range.

[0005] The present invention adopts the following technical solution: a surface displacement monitoring device based on Beidou GNSS, comprising:

[0006] The control end and the field end; the control end includes the UAV, terminal and Beidou RTK base station; the field end includes the base and field monitoring node.

[0007] The lower surface of the drone is equipped with a hoisting height adjustment module and a wireless communication module, and the hoisting height adjustment module is connected to the electromagnet.

[0008] The base includes a base hanging module and a data identification module.

[0009] A groove is designed at the center position of the upper surface of the base, and a circle of lower magnets are distributed around the groove; a data recognition module is placed in the groove to collect inclination data, and the module includes a coil, a central control circuit board and a position sensor connected in sequence.

[0010] The on-site monitoring node includes a node hoisting module, a monitoring core module and a node box.

[0011] The node hoisting module includes a node hoisting point, an adjustable short column, an upper magnet and a tenon-type positioning structure.

[0012] The monitoring core module includes a photosensor, a photovoltaic panel, a power cord, a power management chip, a second wireless communication module, a target sensing module, a GNSS antenna, a local storage module and a rechargeable battery module.

[0013] The terminal includes a control terminal and a first wireless communication module, and the control terminal is connected to the first wireless communication module.

[0014] Furthermore, the data identification module interacts with the wireless communication module.

[0015] Furthermore, the base hoisting module includes a base hoisting point, a threshold opening embedded structure, a lower magnet and a mortise-shaped positioning structure.

[0016] There are four base hoisting points, which are located at the centers of the four sides of the base; there are four threshold opening embedded structures, which are located at the four corners of the lower surface of the base; there are two mortise-shaped positioning structures, which are located at the two corners of the upper surface of the base.

[0017] Furthermore, the threshold opening embedded structure includes an embedded cone, an opening anchor sleeve, a wedge-shaped expansion washer and a threshold trigger device located inside the threshold opening embedded structure, which are sequentially connected from bottom to top.

[0018] Furthermore, the adjustable short column, the power management chip, the second wireless communication module, the target sensing module, the GNSS antenna, the local storage module and the rechargeable battery module are placed in the node box.

[0019] There are four node lifting points, which are located at the centers of the four sides above the node box; there are three adjustable short columns, which are evenly distributed at the edges of the lower surface of the target sensing module; the upper magnet is arranged on the outer surface below the node box; there are two tenon-type positioning structures, which are arranged at the end points of the outer surface below the node box and correspond to the positions of the mortise-type positioning structures.

[0020] The mortise and tenon positioning structure and the tenon and tenon positioning structure constitute a mortise and tenon positioning device, which is used to distinguish the assembly direction of the base and the on-site monitoring node.

[0021] Furthermore, there are three photosensors, which are arranged at the edge of the surface of the photovoltaic panel to sense changes in ambient light and drive the photovoltaic panel to twist; the photovoltaic panel is arranged above the node box and connected to the rechargeable battery module through a power line; the power management chip is connected to the rechargeable battery module through the power line; the rechargeable battery module is arranged below the target sensing module for power supply; the GNSS antenna is arranged at the center of the upper surface of the target sensing module; the target sensing module is connected to the second wireless communication module; and the local storage module is connected to the target sensing module.

[0022] The center of mass position and the center of shape position of the structure formed by the second wireless communication module, the target perception module and the GNSS antenna coincide with each other.

[0023] The first wireless communication module is connected to the second wireless communication module through wireless communication to realize data transmission and command reception and transmission between the control terminal and the target sensing module.

[0024] Furthermore, the power output end of the photovoltaic panel is connected to a power line, and the power line is routed in a straight line on the back of the node box and inside the connecting rod of the photovoltaic panel, and extends to the photovoltaic panel for docking.

[0025] Furthermore, the upper magnets and the lower magnets are the same in number and have opposite magnetic poles.

[0026] Furthermore, the present invention also proposes an intelligent monitoring method for a surface displacement monitoring device based on Beidou GNSS, comprising:

[0027] S1. Under electronic control, the electromagnet and the base lifting point are attracted to complete the connection between the drone and the base.

[0028] S2. The UAV realizes flight control and performs lifting of the base based on the positioning of the Beidou RTK base station.

[0029] S3. After the control terminal controls the drone to reach the specified position, it controls the drone to reach the specified height, determines the release position through the image data collected by the camera under the drone, and issues a command to turn off the power supply of the electromagnet, and the base is separated from the drone.

[0030] S4. When the threshold trigger device contacts the ground, it is triggered, the anchor sleeve is pushed out under the ground and the wedge-shaped expansion washer is squeezed out, and the anchor sleeve is opened inside the soil to achieve anchoring.

[0031] S5. The control terminal controls the wireless communication module of the drone to send a signal to the coil of the data identification module, activates the position sensor to collect the three-dimensional inclination data of the plane where the base is located, transmits the data to the wireless communication module through the coil, and sends it back to the control terminal, and manually adjusts the length of the three adjustable short columns according to the data.

[0032] S6. The electromagnet is attracted to the node lifting point to complete the connection between the UAV and the on-site monitoring node. After the control terminal is used to control the UAV to reach the position above the base, the height of the UAV is lowered, and the release position is determined through the image data collected by the camera below the UAV. The control terminal issues a command to turn off the power supply of the electromagnet, and the connection between the tenon-type positioning structure and the mortise-type positioning structure and the connection between the upper magnet and the lower magnet is used to achieve the connection between the on-site monitoring node and the base, and the UAV flies away.

[0033] S7. The control terminal activates the on-site equipment by wireless command through the first wireless communication module, switching it from sleep mode to test mode; the adaptive monitoring node receives Beidou satellite data from the Beidou RTK base station through the GNSS antenna, and the displacement perception module performs preliminary calculation on the data to obtain the longitude and latitude information of the observation point, which is transmitted back to the terminal through the second wireless communication module and the first wireless communication module; the adaptive monitoring node enters a sleep state.

[0034] S8. The control terminal activates the photosensitive sensor by wireless command through the first wireless communication module, obtains the state of ambient light change, tracks the position of the light source, and drives the photovoltaic panel to rotate in two directions in a coordinated manner.

[0035] S9. The control terminal sends a wireless instruction through the first wireless communication module to switch the field device from the sleep mode to the monitoring mode, and sets the monitoring time interval and the number of monitoring times; after the setting is completed, the field device transmits the status confirmation information back to the control terminal.

[0036] S10. The adaptive monitoring node receives Beidou satellite observation data with timestamps through the GNSS antenna, synchronously obtains the observation data of the Beidou RTK base station, and uses the observation data to calibrate the observation results of the adaptive monitoring node to obtain high-precision latitude and longitude coordinates and elevation data of the adaptive monitoring node.

[0037] S11. Back up the data obtained in step S10 to the local storage module and transmit it to the terminal via wireless communication; if the wireless transmission fails, mark the data that failed to be transmitted; when the wireless communication returns to normal, retransmit the marked data and clear the mark; when the data is successfully transmitted back to the terminal, calculate the displacement data of the on-site equipment based on the data.

[0038] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0039] 1. The present invention can realize large-scale lifting and, combined with wireless communication transmission, complete adaptive displacement monitoring of high slope areas.

[0040] 2. The present invention can be effectively applied to the ground with different flatness in the set scene, and always maintain the stability of placement. In addition, the design of introducing a photosensitive sensor to drive the photovoltaic power generation panel to coordinate the twisting is introduced for the monitoring core module, which effectively improves the efficiency of light energy utilization.

[0041] 3. The present invention can be used for long-term deployment on site, and can receive instructions and transmit data wirelessly, thereby ensuring the stability of data transmission and reducing maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the overall architecture of the present invention.

[0043] Figure 2 It is a structural schematic diagram of the base of the present invention.

[0044] Figure 3 This is a comparison diagram of the threshold-opening embedded structure of the present invention before and after the threshold is triggered.

[0045] Figure 4 It is a structural schematic diagram of the field monitoring node of the present invention.

[0046] Figure 5 It is a schematic diagram of the base and the on-site monitoring node of the present invention.

[0047] Figure 6 It is a schematic diagram of the UAV hoisting base of the present invention.

[0048] Figure 7 It is a schematic diagram of hoisting the on-site monitoring node of the present invention.

[0049] Figure 8 It is a schematic diagram of collecting base inclination data according to an embodiment of the present invention.

[0050] Figure numerals: 1-UAV, 11-hoisting height adjustment module, 12-electromagnet, 13-wireless communication module, 2-base, 21-base hoisting module, 211-base hoisting point, 212-threshold opening embedded structure, 213-lower magnet, 214-mortise positioning structure, 215-embedded cone, 216-threshold trigger device, 217-wedge expansion washer, 218-open anchor sleeve, 22-data identification module, 221-coil, 222-central control circuit board, 223-position sensor, 3-field monitoring node, 31 -node hoisting module, 311-box hoisting point, 312-adjustable short column, 313-upper magnet, 314-tenon positioning structure, 32-monitoring core module, 321-photosensitive sensor, 322-photovoltaic panel, 323-power cord, 324-power management chip, 325-second wireless communication module, 326-target perception module, 327-GNSS antenna, 328-local storage module, 329-rechargeable battery module, 4-terminal, 41-control terminal, 42-first wireless communication module, 5-Beidou RTK base station. DETAILED DESCRIPTION

[0051] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0052] To achieve the above object, the present invention proposes a surface displacement monitoring device based on Beidou GNSS, such as Figure 1 As shown, it includes a control end and a field end; wherein, the control end includes a drone 1, a terminal 4 and a Beidou RTK base station 5; the field end includes a base 2 and a field monitoring node 3.

[0053] like Figure 2 As shown, the base 2 includes a base hoisting module 21 and a data identification module 22. The base hoisting module 21 includes a base hoisting point 211, a threshold opening embedded structure 212, a lower magnet 213 and a mortise positioning structure 214, and the module is used to realize the adaptive rapid installation of the base 2.

[0054] There are four base lifting points 211, which are located at the centers of the four sides of the base 2, to facilitate the lifting of the drone; there are four threshold opening embedded structures 212, which are located at the four corners of the lower surface of the base 2, to provide support for the base 2 and ensure the stability of the base 2; there are two mortise-shaped positioning structures 214, which are located at the two corners of the upper surface of the base 2.

[0055] A groove is designed at the center of the upper surface of the base 2, and a circle of lower magnets 213 are distributed around the groove. A data recognition module 22 is placed in the groove to collect inclination data. The module includes a coil 221, a central control circuit board 222 and a position sensor 223 connected in sequence. The data recognition module 22 interacts with the wireless communication module 13 to obtain the base inclination data.

[0056] like Figure 3 As shown, the threshold opening embedded structure 212 includes an embedded cone 215 , an opening anchor sleeve 218 , a wedge-shaped expansion washer 217 , and a threshold trigger device 216 located inside the threshold opening embedded structure 212 , which are sequentially connected from bottom to top. Figure 3 (a) is the state of the threshold-opening embedded structure 212 before the threshold is triggered. Figure 3 (b) is the state after the threshold value of the threshold-open embedded structure 212 is triggered. It can be seen that the wedge-shaped expansion gasket 217 is squeezed out, and the open anchoring sleeve 218 is pushed out and opened to complete the anchoring effect.

[0057] like Figure 4 , 5 As shown, the field monitoring node 3 includes a node hoisting module 31, a monitoring core module 32 and a node box. The node hoisting module 31 includes a node hoisting point 311, an adjustable short column 312, an upper magnet 313 and a tenon-type positioning structure 314, and the module is used for adaptive and rapid installation of the monitoring node 3. The monitoring core module 32 includes a photosensitive sensor 321, a photovoltaic power generation panel 322, a power line 323, a power management chip 324, a second wireless communication module 325, a target perception module 326, a GNSS antenna 327, a local storage module 328 and a rechargeable battery module 329, and the module is used to perform core monitoring tasks.

[0058] The adjustable short column 312, the power management chip 324, the second wireless communication module 325, the target sensing module 326, the GNSS antenna 327, the local storage module 328 and the rechargeable battery module 329 are placed in the node box; there are four node hoisting points 311, which are respectively located at the center of the four sides above the node box, so as to facilitate the hoisting of the drone; there are three adjustable short columns 312, which are evenly distributed at the edge of the lower surface of the target sensing module 326; the upper magnet 313 is arranged on the outer surface below the node box; there are two tenon-type positioning structures 314, which are arranged at the end points of the outer surface below the node box and correspond to the position of the mortise-type positioning structure 214; the mortise-type positioning structure 214 and the mortise-type positioning structure 314 constitute a mortise-and-tenon positioning device, which is used to distinguish the assembly direction of the base 2 and the field monitoring node 3 to ensure the correct assembly direction.

[0059] There are three photosensitive sensors 321, which are arranged at the edge of the surface of the photovoltaic panel 322. The optimal arrangement position is: one is set at each of the two corner points of the upper surface, and one is set at the middle position of the lower surface, which is used to sense the change of ambient light and drive the photovoltaic panel 322 to coordinately twist in two directions to form a dual-axis bionic sunflower photosensitive tracking device, which effectively improves the efficiency of light energy utilization; the photovoltaic panel 322 is arranged above the node box and is connected to the rechargeable battery module 329 through the power line 323, and the power management chip 324 is connected to the rechargeable battery module through the power line 323. The target sensing module 326 is connected to the second wireless communication module 325, and the rechargeable battery module 329 is arranged below the target sensing module 326 for power supply; the GNSS antenna 327 is arranged at the center of the upper surface of the target sensing module 326, and the GNSS antenna 327 is used to obtain the satellite observation data of the Beidou RTK base station 5, and the target sensing module 326 performs the sensing detection of the preset target type parameters according to the data; the target sensing module 326 is connected to the second wireless communication module 325, and the target sensing module 326 is used to perform the sensing detection of the preset target type parameters; the local storage module 328 is connected to the target sensing module 326. The centroid position and the centroid position of the structure composed of the second wireless communication module 325, the target sensing module 326 and the GNSS antenna 327 coincide.

[0060] The power output end of the photovoltaic panel 322 is connected to the power line 323, and the power line 323 is routed in a straight line on the back of the node box and inside the connecting rod of the photovoltaic panel 322, and directly extends to the photovoltaic panel 322 for docking.

[0061] The upper magnets 313 and the lower magnets 213 have the same number and opposite magnetic poles. Through the adsorption between the upper magnets 313 and the lower magnets 213, two hoisting operations are completed to achieve the connection between the base 2 and the on-site monitoring node 3.

[0062] Hoisting process:

[0063] like Figure 6 As shown, the lower surface of the drone 1 is equipped with a hoisting height adjustment module 11 and a wireless communication module 13, and the hoisting height adjustment module 11 is connected to the electromagnet 12; the terminal 4 includes a control terminal 41 and a first wireless communication module 42, and the control terminal 41 is connected to the first wireless communication module 42. Under electric control, the electromagnet 12 is attracted to the base hoisting point 211 to realize the detachable connection between the drone 1 and the base 2. By adjusting the length of the hoisting height adjustment module 11, the base 2 can move stably in the air when it is suspended in the air; the first wireless communication module 42 is connected to the second wireless communication module 325 through wireless communication, so as to realize data transmission and command sending and receiving between the control terminal 41 and the target perception module 326.

[0064] The UAV 1 realizes flight control based on the positioning of the Beidou RTK base station 5 and performs transportation to the site. In addition, regarding the lifting of the site by the UAV 1 through the electromagnet 12, a lifting height adjustment module 11 is further designed for the UAV 1, that is, the lifting height can be adjusted while lifting to the site.

[0065] In actual applications, satellite positioning and data transmission are not limited to the Beidou system, other satellite positioning methods can also be selected.

[0066] After the control terminal 41 controls the drone 1 to reach the designated position, the drone 1 is controlled to reach the designated height. After fine adjustment of the release position through the image data collected by the camera below the drone 1, the control terminal 41 issues a command to turn off the power of the electromagnet 12, and the base 2 is separated from the drone 1. When the threshold trigger device 216 contacts the ground, it is triggered, and the anchor sleeve 218 is pushed out and the wedge-shaped expansion washer 217 is squeezed out under the ground. The anchor sleeve 218 is opened inside the soil to achieve the anchoring effect, ensuring that the base 2 is installed firmly.

[0067] When the control terminal 41 and the target sensing module 326 perform data transmission and command transmission and reception via wireless communication, if the wireless signal is unstable, the target sensing module 326 can temporarily store the detection data in the local storage module 328. After the wireless signal returns to normal, the detection data in the local storage module 328 is sent to the control terminal 41 to continue to complete the data return. In actual applications, the local storage module 328 uses a TF card.

[0068] like Figure 7 , 8 As shown, after the base 2 is firmly installed, the control terminal 41 controls the wireless communication module 13 of the drone 1 to send a signal to the coil 221 located at the base 2. After receiving the signal, the coil 221 activates the position sensor 223 to collect the three-dimensional inclination data of the plane where the base 2 is located, and then transmits the data to the wireless communication module 13 through the coil 221, and finally sends it back to the control terminal 41. The control terminal 41 manually adjusts the length of the three adjustable short columns 312 based on the collected three-dimensional inclination data to compensate for the inclination of the base 2, ensuring that after the on-site monitoring node 3 and the base 2 are assembled, the target perception module 326 can remain horizontal and the GNSS antenna 327 remains vertically upward.

[0069] The electromagnet 12 is attracted to the node hoisting point 311, and the length of the hoisting height adjustment module 11 is adjusted, so that the field monitoring node 3 can move stably in the air when it is suspended. After the control terminal 41 is used to control the drone 1 to reach the position above the base 2, the height of the drone 1 is lowered, and the release position is finely adjusted through the image data collected by the camera below the drone 1. The control terminal 41 issues a command to turn off the power of the electromagnet 12, and the tenon positioning structure 314 and the connecting magnet are used to achieve a stable connection between the field monitoring node 3 and the base 2. The field end is separated from the drone 1, and the drone 1 flies away, and the field end is installed.

[0070] Intelligent monitoring process:

[0071] Node activation and field testing: The control terminal 41 activates the field device by wireless command through the first wireless communication module 42, switching it from sleep mode to test mode. Subsequently, the node receives Beidou satellite data through the GNSS antenna 327, and the displacement sensing module performs a preliminary solution on the received satellite data to obtain the latitude and longitude information of the observation point. The data is transmitted back to the terminal 4 through the second wireless communication module 325 and the first wireless communication module 42. After the test is completed, the node enters the sleep state again.

[0072] Activation of the dual-axis bionic sunflower light-sensitive tracking device: The photosensitive sensor array 321 with pre-written code is connected to the photovoltaic panel 322 to form a dual-axis bionic sunflower light-sensitive tracking device. The control terminal 41 activates the device by wireless command through the first wireless communication module 42, so that the photosensitive sensor array 321 senses the change of ambient light, autonomously tracks the location of the light source, and drives the photovoltaic panel 322 to coordinately twist in two directions.

[0073] Command decentralization: The control terminal 41 sends a wireless command through the first wireless communication module 42 to wake up the field device from the sleep mode and switch it to the monitoring mode. At this time, you can choose between the two working modes of equal interval long-term monitoring and counted monitoring, and set the monitoring time interval and monitoring times (this setting is not available in the long-term monitoring mode). After the setting is completed, the field device transmits the status confirmation information back to the control terminal 41.

[0074] Real-time monitoring: The adaptive monitoring node receives Beidou satellite observation data with time stamps through the GNSS antenna 327, and simultaneously obtains the observation data of the Beidou RTK base station 5, and uses the data of the base station to calibrate the observation results of the node, thereby improving the accuracy of the observation data. The calibrated Beidou satellite observation data is used to solve the high-precision latitude and longitude coordinates and elevation data of the current point.

[0075] Data storage and transmission: The high-precision longitude and latitude coordinates and elevation data obtained by the solution will be backed up to the local storage module 328 and transmitted to the terminal 4 via wireless communication. If the wireless transmission fails, the system will mark the data that failed to be transmitted; when the wireless communication returns to normal, the marked data will be retransmitted and the mark will be cleared. When the data is successfully transmitted back to the terminal 4, the system will solve the displacement data of the field equipment based on the high-precision longitude and latitude coordinates and elevation data, and further improve the accuracy of the displacement data through methods such as Kalman filtering.

[0076] Device sleep: When the field device is in the counting monitoring mode and completes the predetermined number of monitoring tasks, or is in the equal-interval long-term monitoring mode and receives the sleep command from terminal 4, the monitoring task ends and the field device will return to the sleep state and wait for the next activation.

[0077] The invention overcomes the problems of traditional Beidou GNSS-based civil engineering deformation monitoring equipment, such as large size, difficult deployment in harsh environments, complex installation, high maintenance costs, and inconvenient data transmission. It is of great significance to realize the installation of high slope surface displacement adaptive wireless monitoring system. It can be used for long-term deployment on site, and receive instructions and transmit data wirelessly.

[0078] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A surface displacement monitoring device based on Beidou GNSS, characterized in that: include: A control end and a field end; wherein the control end includes a drone (1), a terminal (4) and a Beidou RTK base station (5); and the field end includes a base (2) and a field monitoring node (3); The lower surface of the drone (1) is equipped with a hoisting height adjustment module (11) and a wireless communication module (13), and the hoisting height adjustment module (11) is connected to an electromagnet (12); The base (2) comprises a base hanging module (21) and a data identification module (22); A groove is designed at the center of the upper surface of the base (2), and a circle of lower magnets (213) are distributed around the groove; a data identification module (22) is placed in the groove for collecting inclination data, and the module includes a coil (221), a central control circuit board (222), and a position sensor (223) connected in sequence; The on-site monitoring node (3) comprises a node hoisting module (31), a monitoring core module (32) and a node box; The node hoisting module (31) comprises a node hoisting point (311), an adjustable short column (312), an upper magnet (313) and a tenon-shaped positioning structure (314); The monitoring core module (32) includes a photosensor (321), a photovoltaic power generation panel (322), a power line (323), a power management chip (324), a second wireless communication module (325), a target sensing module (326), a GNSS antenna (327), a local storage module (328) and a rechargeable battery module (329); The terminal (4) comprises a control terminal (41) and a first wireless communication module (42), and the control terminal (41) is connected to the first wireless communication module (42).

2. The surface displacement monitoring device based on Beidou GNSS according to claim 1, characterized in that: The data identification module (22) interacts with the wireless communication module (13).

3. The surface displacement monitoring device based on Beidou GNSS according to claim 1, characterized in that: The base hoisting module (21) comprises a base hoisting point (211), a threshold opening embedded structure (212), a lower magnet (213) and a mortise-shaped positioning structure (214); There are four base hoisting points (211), which are respectively located at the centers of the four sides of the base (2); there are four threshold opening embedded structures (212), which are respectively located at the four corners of the lower surface of the base (2); There are two mortise-shaped positioning structures (214), which are respectively located at two corners of the upper surface of the base (2).

4. The surface displacement monitoring device based on Beidou GNSS according to claim 3 is characterized in that: The threshold opening embedded structure (212) comprises an embedded cone (215), an opening anchor sleeve (218), a wedge-shaped expansion washer (217) and a threshold trigger device (216) located inside the threshold opening embedded structure (212) which are sequentially connected from bottom to top.

5. The surface displacement monitoring device based on Beidou GNSS according to claim 3 is characterized in that: The adjustable short column (312), the power management chip (324), the second wireless communication module (325), the target sensing module (326), the GNSS antenna (327), the local storage module (328) and the rechargeable battery module (329) are placed in the node box; There are four node hanging points (311), which are respectively located at the centers of the four sides above the node box; there are three adjustable short columns (312), which are evenly distributed at the edge of the lower surface of the target sensing module (326); and the upper magnet (313) is arranged on the outer surface below the node box; There are two tenon-shaped positioning structures (314), which are arranged at the end points of the lower outer surface of the node box and correspond to the positions of the mortise-shaped positioning structures (214); The mortise-and-tenon positioning structure (214) and the tenon-and-mortise positioning structure (314) constitute a mortise-and-tenon positioning device, which is used to distinguish the assembly direction of the base (2) and the on-site monitoring node (3).

6. The surface displacement monitoring device based on Beidou GNSS according to claim 1, characterized in that: There are three photosensitive sensors (321) arranged at the edge of the surface of the photovoltaic power generation panel (322) for sensing changes in ambient light and driving the photovoltaic power generation panel (322) to twist; the photovoltaic power generation panel (322) is arranged above the node box and connected to the rechargeable battery module (329) via a power line (323); the power management chip (324) is connected to the rechargeable battery module (329) via the power line (323); the rechargeable battery module (329) is arranged below the target sensing module (326) for power supply; the GNSS antenna (327) is arranged at the center of the upper surface of the target sensing module (326); the target sensing module (326) is connected to the second wireless communication module (325); and the local storage module (328) is connected to the target sensing module (326); The center of mass position and the center of shape position of the structure formed by the second wireless communication module (325), the target sensing module (326) and the GNSS antenna (327) coincide with each other; The first wireless communication module (42) and the second wireless communication module (325) are connected via wireless communication to achieve data transmission and command reception and transmission between the control terminal (41) and the target sensing module (326).

7. The surface displacement monitoring device based on Beidou GNSS according to claim 1, characterized in that: The power output end of the photovoltaic power generation panel (322) is connected to the power line (323), and the power line (323) is routed in a straight line on the back of the node box and inside the connecting rod of the photovoltaic power generation panel (322), and extends to the photovoltaic power generation panel (322) for docking.

8. The surface displacement monitoring device based on Beidou GNSS according to claim 1, characterized in that: The upper magnets (313) and the lower magnets (213) are the same in number and have opposite magnetic poles.

9. The intelligent monitoring method applied to the Beidou GNSS-based surface displacement monitoring device of claim 1, characterized in that: include: S1. Under electronic control, the electromagnet and the base hoisting point are attracted to complete the connection between the drone and the base; S2. The UAV is based on the positioning of the Beidou RTK base station to achieve flight control and perform the lifting of the base; S3, after the control terminal controls the drone to reach the specified position, the drone is controlled to reach the specified height, and the release position is determined through the image data collected by the camera below the drone. The control terminal issues a command to turn off the power supply of the electromagnet, and the base is separated from the drone; S4, when the threshold trigger device contacts the ground, it is triggered, the open anchor sleeve is pushed out under the ground and the wedge-shaped expansion washer is squeezed out, and the open anchor sleeve is opened inside the soil to achieve anchoring; S5, the control terminal controls the wireless communication module of the drone to send a signal to the coil of the data identification module, activates the position sensor to collect the three-dimensional inclination data of the plane where the base is located, transmits the data to the wireless communication module through the coil, and sends it back to the control terminal, and manually adjusts the length of the three adjustable short columns according to the data; S6, the electromagnet is attracted to the node hoisting point to complete the connection between the UAV and the on-site monitoring node; after the UAV is controlled by the control terminal to reach the position above the base, the height of the UAV is lowered, and the release position is determined through the image data collected by the camera below the UAV. The control terminal issues a command to turn off the power supply of the electromagnet, and the connection between the tenon-type positioning structure and the mortise-type positioning structure and the connection between the upper magnet and the lower magnet is used to achieve the connection between the on-site monitoring node and the base, and the UAV flies away; S7, the control terminal activates the field device by means of a wireless instruction through the first wireless communication module, and switches it from a sleep mode to a test mode; The adaptive monitoring node receives the Beidou satellite data from the Beidou RTK base station through the GNSS antenna, and the displacement sensing module performs a preliminary solution on the data to obtain the latitude and longitude information of the observation point, which is transmitted back to the terminal through the second wireless communication module and the first wireless communication module; The adaptive monitoring node enters a dormant state; S8, the control terminal activates the photosensitive sensor by wireless command through the first wireless communication module, obtains the state of ambient light change, tracks the position of the light source, and drives the photovoltaic power generation panel to rotate in two directions in a coordinated manner; S9, the control terminal sends a wireless instruction through the first wireless communication module to switch the field device from the sleep mode to the monitoring mode, and sets the monitoring time interval and the number of monitoring times; After the setting is completed, the field device transmits the status confirmation information back to the control terminal; S10, the adaptive monitoring node receives Beidou satellite observation data with timestamps through the GNSS antenna, synchronously obtains the observation data of the Beidou RTK reference station, and uses the observation data to calibrate the observation results of the adaptive monitoring node to obtain high-precision latitude and longitude coordinates and elevation data of the adaptive monitoring node; S11. Back up the data obtained in step S10 to the local storage module and transmit it to the terminal via wireless communication; if the wireless transmission fails, mark the data that failed to be transmitted; when the wireless communication returns to normal, retransmit the marked data and clear the mark; when the data is successfully transmitted back to the terminal, calculate the displacement data of the on-site equipment based on the data.

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