A surface displacement monitoring device based on Beidou GNSS and an intelligent monitoring method

Abstract

The application discloses a surface displacement monitoring device based on Beidou GNSS and an intelligent monitoring method, the method comprising detachable connection of an unmanned aerial vehicle with a base and a field monitoring node based on an electromagnetic mode, realizing wide-range remote self-adaptive fast installation, and combining wireless communication transmission between a monitoring core module and a terminal, realizing accurate displacement monitoring under a high slope scene, hoisting of the base achieving anchoring effect through a threshold opening embedded structure, being capable of being applied to different monitoring scenes, adapting to different flatness ground, and maintaining stability of the device; a photosensitive sensor array senses ambient light changes, drives a photovoltaic power generation plate to coordinate torsion, and effectively improves light energy utilization efficiency. The application realizes surface displacement safety monitoring and disaster evaluation and early warning for key areas which are difficult for people to reach, represented by high slope monitoring, and has very important significance.

Description

Technical Field

[0001] This invention relates to the field of civil engineering monitoring technology, specifically to a surface displacement monitoring device and intelligent monitoring method based on BeiDou GNSS. Background Technology

[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 been continuously increasing. Surface displacement monitoring, as an important means of preventing disasters such as landslides and foundation settlement, is widely used in engineering projects. With the development of the BeiDou Global Navigation Satellite System, its high-precision positioning technology has enormous application potential in the field of displacement monitoring. However, existing GNSS (Global Navigation Satellite System) monitoring systems are complex to install, time-consuming to deploy, and difficult to adapt to changing field environments.

[0003] Therefore, for structures operating in harsh environments, such as high slopes, it is of great significance to invent a low-cost, high-precision, and rapidly adaptable surface displacement wireless monitoring system that can be installed and used over a wide area. Summary of the Invention

[0004] The purpose of this invention is to provide a surface displacement monitoring device and intelligent monitoring method based on BeiDou GNSS, which has the advantages of low cost, easy installation, and high precision, and is of great significance for realizing a surface displacement adaptive wireless monitoring system that can be installed and used over a large area.

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

[0006] The system consists of a control terminal and a field terminal; the control terminal includes drones, terminals, and BeiDou RTK reference stations; the field terminal includes a base and field monitoring nodes.

[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 an electromagnet.

[0008] The base includes a base hoisting module and a data recognition module.

[0009] A groove is designed in the center of the upper surface of the base, and a ring of magnets is distributed around the groove. A data recognition module is placed in the groove to collect tilt angle data. The module includes a coil, a central control circuit board and a position sensor connected in sequence.

[0010] The on-site monitoring nodes include node hoisting modules, monitoring core modules, and node housings.

[0011] The node hoisting module includes node hoisting points, adjustable short columns, upper magnets, and tenon-shaped positioning structures.

[0012] The core monitoring module includes a photosensitive sensor, a photovoltaic power generation panel, a power cord, a power management chip, a second wireless communication module, a target perception 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, with the control terminal connected to the first wireless communication module.

[0014] Furthermore, the data recognition 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-type positioning structure.

[0016] There are four base mounting points, located at the center of the four sides of the base; there are four threshold opening embedded structures, located at the four corners of the lower surface of the base; and there are two mortise positioning structures, located at the two corners of the upper surface of the base.

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

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

[0019] There are four node hoisting points, located at the center of the four sides above the node housing; there are three adjustable short columns, evenly distributed at the edge of the lower surface of the target sensing module; the upper magnet is set on the outer surface below the node housing; there are two tenon-shaped positioning structures, set at the end points of the outer surface below the node housing, and corresponding to the position of the mortise-shaped positioning structure.

[0020] The mortise and tenon positioning structures together form a mortise and tenon positioning device, which is used to distinguish the assembly direction of the base and the on-site monitoring nodes.

[0021] Furthermore, three photosensors are positioned at the edge of the photovoltaic panel surface to sense changes in ambient light and drive the photovoltaic panel to rotate. The photovoltaic panel is located above the node housing and connected to the rechargeable battery module via a power cable. The power management chip is also connected to the rechargeable battery module via a power cable. The rechargeable battery module is located below the target sensing module and provides power. The GNSS antenna is positioned at the center of the upper surface of the target sensing module. The target sensing module is connected to the second wireless communication module. The local storage module is also connected to the target sensing module.

[0022] The centroid and centroid of the structure consisting of the second wireless communication module, the target sensing module, and the GNSS antenna coincide.

[0023] The first wireless communication module and the second wireless communication module are connected wirelessly to enable data transmission and command exchange between the control terminal and the target sensing module.

[0024] Furthermore, the power output end of the photovoltaic panel is connected to the power line. The power line runs 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 connection.

[0025] Furthermore, the number of upper and lower magnets is the same, but their magnetic poles are opposite.

[0026] Furthermore, this invention also proposes an intelligent monitoring method for a surface displacement monitoring device based on BeiDou GNSS, including:

[0027] S1. Under electronic control, the electromagnet attracts the base mounting point, completing the connection between the drone and the base.

[0028] S2. The UAV uses the BeiDou RTK reference station for positioning to achieve flight control and perform hoisting of the base.

[0029] S3. After the control terminal controls the drone to reach the designated location and altitude, it determines the release position by using image data collected by the camera below the drone. The control terminal then issues a command to turn off the electromagnet power, and the base detaches from the drone.

[0030] S4. When the threshold triggering device touches the ground, it is triggered, and the opening anchoring sleeve is pushed out and the wedge-shaped expansion washer is squeezed out under the ground. The opening anchoring sleeve opens inside the soil to achieve anchoring.

[0031] S5. The control terminal controls the drone's wireless communication module to send a signal to the coil of the data identification module, activating the position sensor to collect the three-dimensional tilt angle data of the plane where the base is located. The data is transmitted to the wireless communication module through the coil and sent back to the control terminal. The length of the three adjustable short columns is manually adjusted according to the data.

[0032] S6. The electromagnet engages with the node hoisting point, completing the connection between the drone and the on-site monitoring node. After the drone reaches the position above the base using the control terminal, the drone's altitude is lowered. The release position is determined by the image data collected by the camera below the drone. The control terminal issues a command to turn off the electromagnet power. The connection between the on-site monitoring node and the base is achieved by using the tenon-type positioning structure and the mortise-type positioning structure, as well as the connection between the upper magnet and the lower magnet. The drone then flies away.

[0033] S7. The control terminal activates the field equipment via 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 reference station through the GNSS antenna, the displacement sensing module performs preliminary calculations on the data to obtain the latitude and longitude information of the observation point, and the information is transmitted back to the terminal through the second wireless communication module and the first wireless communication module; the adaptive monitoring node enters sleep mode.

[0034] S8. The control terminal activates the photosensitive sensor via wireless command through the first wireless communication module to obtain the state of ambient light change, track the location of the light source, and drive the photovoltaic panel to rotate in a coordinated manner in two directions.

[0035] S9. The control terminal sends a wireless command through the first wireless communication module to switch the field device from sleep mode to monitoring mode, and sets the monitoring time interval and number of monitoring sessions; after the settings are 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 a GNSS antenna, synchronously acquires observation data from the BeiDou RTK reference station, and uses this observation data to calibrate the observation results of the adaptive monitoring node, thereby obtaining 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 failed data; 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 field equipment based on the data.

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

[0039] 1. This invention enables large-scale hoisting and, combined with wireless communication transmission, completes adaptive monitoring of displacement in high slope areas.

[0040] 2. This invention can effectively be applied to ground surfaces of varying flatness in the designed scenarios, maintaining placement stability at all times. Furthermore, the design incorporates a photosensitive sensor in the core monitoring module to coordinate the torsion of the photovoltaic panel, effectively improving light energy utilization efficiency.

[0041] 3. This invention can be used for long-term field deployment and can receive instructions and transmit data wirelessly, ensuring the stability of data transmission and reducing maintenance costs. Attached Figure Description

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

[0043] Figure 2 This is a schematic diagram of the structure 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 threshold triggering.

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

[0046] Figure 5 This is a schematic diagram of the base and field monitoring nodes of the present invention.

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

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

[0049] Figure 8 This is a schematic diagram of the base tilt angle data acquisition according to an embodiment of the present invention.

[0050] Reference numerals: 1-UAV, 11-Lifting height adjustment module, 12-Electromagnet, 13-Wireless communication module, 2-Base, 21-Base lifting module, 211-Base lifting point, 212-Threshold opening embedded structure, 213-Lower magnet, 214-Rhomboid positioning structure, 215-Embedded cone, 216-Threshold triggering device, 217-Wedge expansion washer, 218-Opening anchor sleeve, 22-Data recognition 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-shaped positioning structure, 32- Monitoring core module, 321- Photosensitive sensor, 322- Photovoltaic power generation 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 reference station. Detailed Implementation

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

[0052] To achieve the above objectives, this invention proposes a surface displacement monitoring device based on BeiDou GNSS, such as... Figure 1 As shown, it includes a control terminal and a field terminal; the control terminal includes a UAV 1, a terminal 4, and a Beidou RTK reference station 5; the field terminal 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 recognition 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. This module is used to achieve adaptive and rapid installation of the base 2.

[0054] There are four base hoisting points 211, located at the center of the four sides of the base 2, to facilitate the hoisting of drones; there are four threshold opening embedded structures 212, located at the four corners of the lower surface of the base 2, to provide support for the base 2 and ensure its stability; there are two mortise positioning structures 214, 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. Several lower magnets 213 are distributed around the groove. A data recognition module 22 is placed inside the groove to collect tilt angle data. This 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 tilt angle data of the base.

[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 triggering device 216 located inside the threshold opening embedded structure 212, which are connected sequentially from bottom to top. Figure 3 (a) represents the state of the threshold-opening embedded structure 212 before threshold triggering. Figure 3 (b) shows the state after the threshold of the threshold-opening embedded structure 212 is triggered. It can be seen that the wedge-shaped expansion washer 217 is squeezed out and the opening anchor sleeve 218 is pushed out and opened to complete the anchoring effect.

[0057] like Figure 4 , 5 As shown, the on-site monitoring node 3 includes a node hoisting module 31, a monitoring core module 32, and a node housing. The node hoisting module 31 includes a node hoisting point 311, an adjustable short column 312, an upper magnet 313, and a tenon-shaped positioning structure 314. This module is used for the adaptive and rapid installation of the monitoring node 3. The monitoring core module 32 includes a photosensor 321, a photovoltaic panel 322, a power cable 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. This module is used to perform core monitoring tasks.

[0058] The adjustable short column 312, power management chip 324, second wireless communication module 325, target perception module 326, GNSS antenna 327, local storage module 328, and rechargeable battery module 329 are placed inside the node housing. There are four node hoisting points 311, located at the center of the four sides above the node housing, which facilitates the hoisting of the UAV. There are three adjustable short columns 312, which are evenly distributed at the edge of the lower surface of the target perception module 326. The upper magnet 313 is set on the outer surface of the lower part of the node housing. There are two tenon-shaped positioning structures 314, which are set at the end points of the outer surface of the lower part of the node housing and correspond to the position of the mortise-shaped positioning structure 214. The mortise-shaped positioning structure 214 and the tenon-shaped positioning structure 314 constitute a tenon-mortise positioning device, which is used to distinguish the assembly direction of the base 2 and the field monitoring node 3 to ensure that the assembly direction is correct.

[0059] Three photosensitive sensors 321 are located at the edges of the photovoltaic panel 322 surface. The optimal arrangement is one sensor at each of the two corners of the upper surface and one sensor in the middle of the lower surface. These sensors detect changes in ambient light and drive the photovoltaic panel 322 to rotate in two coordinated directions, forming a dual-axis biomimetic sunflower photosensitive tracking device that effectively improves light energy utilization efficiency. The photovoltaic panel 322 is located above the node housing and is connected to the rechargeable battery module 329 via a power cable 323. The power management chip 324 is also connected to the rechargeable battery module via the power cable 323. The rechargeable battery module 329 is located below the target sensing module 326 and is used for power supply. The GNSS antenna 327 is located at the center of the upper surface of the target sensing module 326. The GNSS antenna 327 is used to acquire satellite observation data from the Beidou RTK reference station 5. The target sensing module 326 performs sensing and detection of preset target type parameters based on this data. The target sensing module 326 is connected to the second wireless communication module 325 and is used to perform sensing and detection of preset target type parameters. The local storage module 328 is connected to the target sensing module 326. The centroid and centroid of the structure formed by 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. The power line 323 runs in a straight line on the back of the node box and inside the rod connected to the photovoltaic panel 322, and extends directly to the photovoltaic panel 322 for docking.

[0061] The upper magnet 313 and the lower magnet 213 are the same in number but have opposite magnetic poles. Through the attraction between the upper magnet 313 and the lower magnet 213, two hoisting operations are completed to connect the base 2 to the on-site monitoring node 3.

[0062] hoisting process:

[0063] like Figure 6 As shown, the lower surface of the UAV 1 is equipped with a hoisting height adjustment module 11 and a wireless communication module 13. The hoisting height adjustment module 11 is connected to an electromagnet 12. The terminal 4 includes a control terminal 41 and a first wireless communication module 42, with the control terminal 41 connected to the first wireless communication module 42. Under electronic control, the electromagnet 12 engages with the base hoisting point 211, enabling a detachable connection between the UAV 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 suspended. The first wireless communication module 42 and the second wireless communication module 325 are connected wirelessly, enabling data transmission and command exchange between the control terminal 41 and the target perception module 326.

[0064] The UAV 1 uses the positioning of the Beidou RTK reference station 5 to achieve flight control and perform transportation to the site. Regarding the UAV 1's hoisting of the site via the electromagnet 12, a hoisting height adjustment module 11 is further designed for the UAV 1, that is, the hoisting height can be adjusted while hoisting the site.

[0065] In practical 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 and altitude, it finely adjusts the release position using image data collected by the camera below the drone 1. Then, the control terminal 41 issues a command to turn off the power to the electromagnet 12, causing the base 2 to detach from the drone 1. When the threshold trigger device 216 touches the ground, it is triggered, pushing out the opening anchor sleeve 218 below the ground and squeezing out the wedge-shaped expansion washer 217. The opening anchor sleeve 218 opens inside the soil to achieve the anchoring effect, ensuring the base 2 is installed stably.

[0067] When the control terminal 41 and the target sensing module 326 transmit data and send / receive commands wirelessly, if the wireless signal is unstable, the target sensing module 326 can temporarily store the detection data in the local storage module 328. Once the wireless signal returns to normal, the detection data in the local storage module 328 is sent back to the control terminal 41 to continue data transmission. In practical applications, the local storage module 328 uses a TF card.

[0068] like Figure 7 , 8 As shown, after the base 2 is securely installed, the control terminal 41 controls the wireless communication module 13 of the UAV 1 to send a signal to the coil 221 located on the base 2. After receiving the signal, the coil 221 activates the position sensor 223 to collect the three-dimensional tilt angle data of the plane where the base 2 is located. Then, the data is transmitted to the wireless communication module 13 through the coil 221 and finally sent 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 tilt angle data to compensate for the tilt angle of the base 2, ensuring that the target perception module 326 remains horizontal and the GNSS antenna 327 remains vertically upward after the on-site monitoring node 3 is assembled with the base 2.

[0069] Electromagnet 12 engages with node lifting point 311. Adjusting the length of lifting height adjustment module 11 allows the on-site monitoring node 3 to move stably in the air during no-load lifting. After the control terminal 41 controls the drone 1 to reach a position above the base 2, the drone 1 is lowered. After fine-tuning the release position using image data collected by the camera below the drone 1, the control terminal 41 issues a command to turn off the power to the electromagnet 12. The tenon-shaped positioning structure 314 and connecting magnets achieve a stable connection between the on-site monitoring node 3 and the base 2. The on-site end detaches from the drone 1, the drone 1 flies away, and the on-site end installation is complete.

[0070] Intelligent monitoring process:

[0071] Node Activation and Field Testing: Control terminal 41 activates the field equipment via 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 GNSS antenna 327. The displacement sensing module performs preliminary calculations on the received satellite data to obtain the latitude and longitude information of the observation point. This data is transmitted back to terminal 4 through the second wireless communication module 325 and the first wireless communication module 42. After the test is completed, the node enters sleep mode again.

[0072] Activation of the dual-axis biomimetic sunflower photosensitive tracking device: A dual-axis biomimetic sunflower photosensitive tracking device is formed by connecting a pre-programmed array of photosensitive sensors 321 to a photovoltaic panel 322. The control terminal 41 activates the device via wireless command through the first wireless communication module 42, enabling the array of photosensitive sensors 321 to sense changes in ambient light, autonomously track the location of the light source, and simultaneously drive the photovoltaic panel 322 to rotate in two coordinated directions.

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

[0074] Real-time monitoring: The adaptive monitoring node receives timestamped BeiDou satellite observation data via GNSS antenna 327, and simultaneously acquires observation data from BeiDou RTK reference station 5. The node's observation results are then calibrated using the reference station's data, thereby improving the accuracy of the observation data. The calibrated BeiDou satellite observation data is used to calculate the high-precision latitude and longitude coordinates and elevation data of the current point.

[0075] Data is stored and transmitted back: The calculated high-precision latitude and longitude coordinates and elevation data are backed up to the local storage module 328 and transmitted to terminal 4 via wireless communication. If wireless transmission fails, the system marks the failed data; when wireless communication resumes, the marked data is retransmitted and the mark is cleared. After the data is successfully transmitted back to terminal 4, the system calculates the displacement data of the field equipment based on the high-precision latitude and longitude coordinates and elevation data, and further improves the accuracy of the displacement data through methods such as Kalman filtering.

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

[0077] This invention overcomes the problems of traditional BeiDou GNSS-based civil engineering deformation monitoring equipment, such as large size, difficulty in deployment in harsh environments, complex installation, high maintenance costs, and inconvenient data transmission. It is of great significance for realizing an adaptive wireless surface displacement monitoring system for high slopes. It can be deployed on-site for long periods and wirelessly receive commands and transmit data.

[0078] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An intelligent monitoring method for a surface displacement monitoring device based on BeiDou GNSS, characterized in that, include: S1. Under electronic control, the electromagnet (12) and the base (2) are attracted to each other, and the connection between the drone (1) and the base (2) is completed. S2. The UAV (1) is positioned based on the Beidou RTK reference station (5) to achieve flight control and perform hoisting of the base (2); S3. After the control terminal (41) controls the drone (1) to reach the designated position, it controls the drone (1) to reach the designated height. The release position is determined by the image data collected by the camera below the drone (1). The control terminal (41) issues an instruction to turn off the power of the electromagnet (12), and the base (2) is separated from the drone (1). S4. When the threshold triggering device (216) touches the ground, it is triggered, and the opening anchoring sleeve (218) is pushed out and the wedge-shaped expansion washer (217) is squeezed out below the ground. The opening anchoring sleeve (218) opens in the soil to achieve anchoring. S5. The control terminal (41) controls the wireless communication module (13) of the UAV (1) to send a signal to the coil (221) of the data recognition module (22), activates the position sensor (223) to collect the three-dimensional tilt angle data of the plane where the base (2) is located, transmits the data to the wireless communication module (13) through the coil (221) and sends it back to the control terminal (41), and manually adjusts the length of the three adjustable short columns (312) according to the data. S6. The electromagnet (12) is attracted to the node hoisting point to complete the connection between the drone (1) and the on-site monitoring node (3); after the drone (1) reaches the position above the base (2) using the control terminal (41), the height of the drone (1) is reduced. The release position is determined by the image data collected by the camera below the drone (1). The control terminal (41) issues an instruction to turn off the power of the electromagnet (12). The connection between the tenon-shaped positioning structure (314) and the mortise-shaped positioning structure (214) and the upper magnet (313) and the lower magnet (213) is realized to achieve the connection between the on-site monitoring node (3) and the base (2), and the drone (1) flies away. S7. The control terminal (41) activates the field device via 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 reference station (5) via the GNSS antenna (327). The displacement sensing module performs preliminary calculations on the data to obtain the latitude and longitude information of the observation point. This information is transmitted back to the terminal (4) via the second wireless communication module and the first wireless communication module. The adaptive monitoring node enters a dormant state. S8. The control terminal (41) activates the photosensitive sensor (321) via the first wireless communication module in the form of wireless commands to obtain the state of ambient light change, track the location of the light source, and drive the photovoltaic power generation panel (322) to rotate in two directions in a coordinated manner. S9. The control terminal (41) sends a wireless command through the first wireless communication module to switch the field device from sleep mode to monitoring mode, and sets the monitoring time interval and number of monitoring. After the setting is completed, the field device transmits the status confirmation information back to the control terminal (41). S10. The adaptive monitoring node receives the Beidou satellite observation data with timestamps through the GNSS antenna (327), synchronously acquires the observation data of the Beidou rtk reference station (5), and uses the observation data to calibrate the observation results of the adaptive monitoring node, so as to obtain the 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 (328) and transmit it to the terminal (4) via wireless communication; if the wireless transmission fails, mark the failed data; 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 (4), calculate the displacement data of the field equipment based on the data; The surface displacement monitoring device based on BeiDou GNSS includes a control terminal and a field terminal; the control terminal includes a UAV (1), a terminal (4) and a BeiDou RTK reference station (5); the field terminal includes a base (2) and a field monitoring node (3). The lower surface of the UAV (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) includes a base hoisting module (21) and a data recognition module (22); A groove is designed at the center of the upper surface of the base (2), and a ring of lower magnets (213) are distributed around the groove. A data recognition module (22) is placed in the groove to collect tilt angle data. 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) includes a node hoisting module (31), a monitoring core module (32), and a node housing; The node hoisting module (31) includes 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 photosensitive sensor (321), a photovoltaic power generation panel (322), a power cord (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). 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); 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). There are four base mounting points (211), located at the center of the four sides of the base (2); there are four threshold opening embedded structures (212), located at the four corners of the lower surface of the base (2); there are two mortise positioning structures (214), located at the two corners of the upper surface of the base (2); The adjustable short column (312), power management chip (324), second wireless communication module (325), target sensing module (326), GNSS antenna (327), local storage module (328) and rechargeable battery module (329) are placed inside the node box; There are four node hoisting points (311), located at the center of the four sides above the node box; there are three adjustable short columns (312), evenly distributed at the edge of the lower surface of the target sensing module (326); the upper magnet (313) is set on the outer surface below the node box. There are two tenon-type positioning structures (314), which are set at the end of the outer surface below the node box and correspond to the position of the mortise-type positioning structure (214); The mortise and tenon positioning structure (214) and the tenon 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).

2. An apparatus for use in the intelligent monitoring method of the surface displacement monitoring device based on BeiDou GNSS as described in claim 1, characterized in that, The data recognition module (22) interacts with the wireless communication module (13).

3. The device for the intelligent monitoring method of the surface displacement monitoring device based on BeiDou GNSS according to claim 2, characterized in that, 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 triggering device (216) located inside the threshold opening embedded structure (212) connected from bottom to top.

4. The device for the intelligent monitoring method of the surface displacement monitoring device based on BeiDou GNSS according to claim 2, characterized in that, Three photosensitive sensors (321) are located at the edge of the photovoltaic panel (322) to sense changes in ambient light and drive the photovoltaic panel (322) to rotate. The photovoltaic panel (322) is located above the node box and is 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 located below the target sensing module (326) and is used for power supply. The GNSS antenna (327) is located 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). The local storage module (328) is connected to the target sensing module (326). The centroid and centroid of the structure consisting of the second wireless communication module (325), the target sensing module (326), and the GNSS antenna (327) coincide. The first wireless communication module (42) and the second wireless communication module (325) are connected wirelessly to realize data transmission and command sending and receiving between the control terminal (41) and the target perception module (326).

5. The device for the intelligent monitoring method of the surface displacement monitoring device based on BeiDou GNSS according to claim 2, characterized in that, The power output end of the photovoltaic panel (322) is connected to the power line (323). The power line (323) runs in a straight line on the back of the node box and inside the connecting rod of the photovoltaic panel (322), and extends to the photovoltaic panel (322) for docking.

6. The device for the intelligent monitoring method of the surface displacement monitoring device based on BeiDou GNSS according to claim 2, characterized in that, The number of upper magnets (313) and lower magnets (213) is the same, but their magnetic poles are opposite.

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