Vertical monitoring device for constructional engineering
By combining a dual-axis tilt sensor, an inertial measurement unit, and a Kalman filter algorithm, the problem of poor detection accuracy of vertical monitoring devices in vibration environments in existing technologies has been solved, enabling high-precision, real-time monitoring and early warning during building construction.
Patent Information
- Application Number
- CN202511628770.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-07
- Publication Date
- 2026-02-03
AI Technical Summary
Existing vertical monitoring devices are easily affected by external interference during building construction, resulting in poor detection accuracy, inability to achieve continuous and real-time monitoring, and data errors.
Employing a dual-axis tilt sensor, inertial measurement unit (IMU), and error correction module, combined with Kalman filtering algorithm and temperature compensation technology, the IMU uses a triaxial accelerometer and triaxial gyroscope to detect acceleration and angle changes, correcting the tilt sensor data to ensure monitoring accuracy in vibration environments.
In environments with severe vibration, it can stably and accurately reflect changes in the verticality of building structures, reduce temperature drift and vibration interference, improve monitoring accuracy and reliability, and provide real-time early warning.
Smart Images
Figure CN121453014A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application belongs to the technical field of building engineering detection, and particularly relates to a vertical monitoring device for building engineering. BACKGROUND
[0002] In the process of building construction and subsequent use and maintenance, accurate monitoring of the perpendicularity of buildings and structures is a key link to ensure construction quality and assess structural safety. Perpendicularity deviation directly affects the load transfer path and stability of the structure, and serious inclination may cause cracking of components and even cause collapse accidents.
[0003] However, the existing perpendicularity monitoring methods and devices mainly include traditional mechanical methods such as plumb bob, ruler, etc. Although such methods are simple and low in cost, they have obvious defects: first, the measurement accuracy is low, and the readings observed by the naked eye are easily affected by environmental factors such as wind and vibration, and human errors are easily introduced; second, continuous and real-time monitoring cannot be achieved, and only intermittent sampling inspection can be performed, making it difficult to capture inclination changes in the construction dynamic process or the slow deformation process of the building; finally, data rely on manual recording, which is low in efficiency and prone to errors, and is not conducive to data traceability and in-depth analysis.
[0004] In order to solve the above problems, some existing devices attempt to monitor by installing an inclination sensor, but the inclination sensor measures the inclination change between the device and the building to complete the detection, but all the inclination value changes measured by it are based on gravity. However, in the construction vibration environment, the device will bear a huge vibration acceleration. These additional accelerations will superimpose with the gravity acceleration vector, causing the "apparent gravity direction" "felt" by the sensor to swing violently and rapidly, thus producing serious measurement noise and even false data. However, construction is a dynamic process, and vertical detection is a real-time quality control method, so it is necessary to ensure the detection accuracy as much as possible during construction. SUMMARY
[0005] To solve the above problems in the prior art, the present application provides a vertical monitoring device for building engineering, which solves the problem of poor detection accuracy of the existing vertical monitoring device for building engineering due to external interference.
[0006] The vertical monitoring device for building engineering can realize the purpose of the present application through the following technical scheme: a vertical monitoring device for building engineering, comprising a base, a double-axis tilt sensor, an inertial measurer, a control terminal and a horizontal calibrator, the double-axis tilt sensor and the inertial measurer are installed on the plumb center on the top of the base from top to bottom, the horizontal calibrator is installed on the outer wall of the base in parallel, the control terminal is installed in the base and is in communication connection with the double-axis tilt sensor and the inertial measurer, the base is installed on the surface of the structural member to be monitored, the horizontal calibrator is used for calibrating the horizontal value of the base during installation, the double-axis tilt sensor is used for detecting the inclination angle of the building, the inertial measurer is used for detecting the dynamic vector change of the base during monitoring, the control terminal comprises an error correction module, the error correction module corrects and outputs the verticality deviation according to the detection results of the double-axis tilt sensor and the inertial measurer. The inertial measurer is composed of a three-axis accelerometer and a three-axis gyroscope, the three-axis accelerometer is used for detecting the acceleration change value of the base during monitoring, the three-axis gyroscope is used for detecting the rotation angle change value of the base, and the error correction module calculates the current verticality deviation value by means of Kalman filtering algorithm on the detection results of the double-axis tilt sensor, the three-axis accelerometer and the three-axis gyroscope.
[0007] As a preferred technical scheme of the present application, the top of the base is further provided with a temperature detector, the temperature detector is in communication connection with the error correction module and detects the ambient temperature in real time, and the error correction module corrects the detection result of the double-axis tilt sensor through the detection result of the temperature detector.
[0008] As a preferred technical scheme of the present application, the top surface of the base is provided with a protective shell, and the bottom surface of the base is provided with a quick-release mounting seat.
[0009] As a preferred technical scheme of the present application, the quick-release mounting seat is modularly arranged.
[0010] As a preferred technical scheme of the present application, a damping layer is arranged between the quick-release mounting seat and the base.
[0011] As a preferred technical scheme of the present application, the control terminal further comprises a cloud platform and a prediction module, the cloud platform is used for storing the verticality monitoring data output by the control terminal, the prediction module generates prediction data based on the data stored in the cloud platform, and the control terminal compares the prediction result with the current correction value and outputs a warning signal.
[0012] As a preferred technical scheme of the present application, a start trigger module is further preset in the control terminal, the start trigger module is in communication connection with the three-axis accelerometer, and the start trigger module activates the error correction module when the detection result of the three-axis accelerometer reaches a set threshold value.
[0013] The beneficial effect of the present application is that the error correction module takes the measurement value of the two-axis tilt sensor as the observation value, takes the angular velocity value output by the three-axis gyroscope in the inertial measurement device as the basis of state prediction, calculates the attitude angle prediction value at the current time, then compares the measurement value of the two-axis tilt sensor with the prediction value, adjusts the weight difference between the two according to the detection result of the accelerometer, calculates the optimal Kalman gain, and finally obtains the optimal value, thereby ensuring that the detection result of the monitoring device can accurately reflect the real and slow verticality change of the building structure in the construction environment with severe vibration, thereby accurately completing the verticality monitoring of the building. BRIEF DESCRIPTION OF DRAWINGS
[0014] In order to facilitate the understanding of those skilled in the art, the present application will be further described below in conjunction with the drawings.
[0015] Fig. 1 The structure of the present application is shown in the figure; Fig. 2 The partial sectional view of the present application is shown in the figure; Explanation of main element symbols: In the figure: 1, base; 2, two-axis tilt sensor; 3, inertial measurement device; 4, horizontal calibrator; 5, control terminal; 6, temperature detector; 7, protective shell; 8, shock absorbing layer; 9, quick release mounting seat. DETAILED DESCRIPTION
[0016] In order to further illustrate the technical means and effects adopted by the present application to achieve the predetermined object, the specific embodiments, structures, features and effects according to the present application are described in detail below in conjunction with the drawings and preferred embodiments.
[0017] Please refer to Figs. 1-2The embodiment provides a vertical monitoring device for building engineering, which comprises a base 1, a double-axis tilt sensor 2, an inertial measurer 3, a control terminal 5 and a horizontal calibrator 4, wherein the double-axis tilt sensor 2 and the inertial measurer 3 are installed on the vertical center of the top of the base 1 from top to bottom, so that the measurement reference is coincided with the theoretical center of the device, and measurement errors caused by installation eccentricity and structural deformation are reduced, the horizontal calibrator 4 is installed in parallel on the outer side wall of the base 1, the control terminal 5 is installed in the base 1 and is in communication connection with the double-axis tilt sensor 2 and the inertial measurer 3, and the base 1 is installed on the surface of a structural member to be monitored in verticality, when the monitoring device is installed, the base 1 can be adjusted to a horizontal state by observing the horizontal calibrator 4, so that initial calibration of the device is completed, and detection errors caused by installation are avoided, wherein the double-axis tilt sensor 2 is used for detecting the tilt angle of the building, and the inertial measurer 3 is used for detecting dynamic vector changes of the base 1 in the monitoring process, and the control terminal 5 comprises an error correction module, the error correction module corrects and outputs the verticality deviation according to the detection results of the double-axis tilt sensor 2 and the inertial measurer 3.
[0018] And the inertial measurer 3 is composed of a three-axis accelerometer and a three-axis gyroscope, the three-axis accelerometer is used for detecting acceleration change values of the base 1 in the monitoring process, and the three-axis gyroscope is used for detecting rotation angle change values of the base 1.
[0019] When the building in the construction process is monitored, the double-axis tilt sensor 2 and the inertial measurer 3 continuously collect data, but the detection result of the double-axis tilt sensor 2 is influenced by the vibration brought by the outside world, therefore, the verticality of the building detected by the double-axis tilt sensor 2 alone cannot accurately judge whether the building has tilted or not, the three-axis accelerometer in the inertial measurer 3 can detect the motion state of the monitoring device at this time, that is, the vector sum of the acceleration and the gravity acceleration generated by all external forces applied to the monitoring device by the outside world, and in the case that there is no external force interference, the gravity vector measured by the three-axis accelerometer is just the gravity vector. The three-axis gyroscope outputs the angular velocity of the rotation of an object around three coordinate axes, it does not measure linear motion and is not directly influenced by linear acceleration (including gravity and vibration), however, the output of the three-axis gyroscope has "zero point drift", that is, even if it is completely static, there will be a tiny output value. When the angular velocity is time-integrated to obtain the angle change, the tiny error will be accumulated with time, the calculated angle deviates from the true value more and more, and finally diverges to infinity, therefore, it cannot be used alone for long-term static angle measurement.
[0020] When the error correction module corrects the results of the two data points using the Kalman filter algorithm, two situations may occur: First, when the building is in a stable period, the predicted and measured values are very accurate with little difference. In this case, the error correction module will make a small correction to the predicted value based on the measurement value of the dual-axis tilt sensor 2. At this time, the measurement value of the dual-axis tilt sensor 2 is equivalent to the calculated optimal value, and the drift error of the gyroscope is estimated at the same time. This is then used to correct the three-axis gyroscope, thereby solving the error caused by the long-term drift problem of the three-axis gyroscope.
[0021] Second, during periods of strong vibration, the measured values of the dual-axis tilt sensor 2 will fluctuate wildly due to vibration interference, resulting in a significant difference from the predicted values based on the stabilized gyroscope. At this time, the error correction module uses the predicted values from the three gyroscopes as a basis, while the accelerometer calculates the magnitude of the accelerometer vector in real time. The magnitude of this data is used to adjust the weighting of the dual-axis tilt sensor 2, thereby providing better monitoring data output.
[0022] Therefore, during the monitoring process, the error correction module uses the measured value of the dual-axis tilt sensor 2 as the observed value and the angular velocity value output by the three-axis gyroscope in the inertial measurement unit 3 as the basis for state prediction. First, it uses the angular velocity measured by the three-axis gyroscope to perform numerical integration to calculate the predicted value of the attitude angle at the current moment. Then, it compares the measured value of the dual-axis tilt sensor 2 with the predicted value, and adjusts the weight difference between the two according to the detection results of the accelerometer to calculate the optimal Kalman gain. Finally, it obtains the optimal value, thereby ensuring that the detection results of the monitoring device can stably and accurately reflect the real and slow verticality changes of the building structure even in the construction environment with severe vibration, thus accurately completing the verticality monitoring of the building.
[0023] To improve detection accuracy, in this embodiment, a temperature detector 6 is also provided on the top of the base 1. The temperature detector 6 is communicatively connected to the error correction module and detects the ambient temperature in real time. The error correction module corrects the detection results of the dual-axis tilt sensor 2 based on the detection results of the temperature detector 6. During construction, the ambient temperature of the monitoring device varies at different locations, times, and places. When the ambient temperature changes, the different materials constituting the sensor (such as silicon, metal, ceramic, and plastic) will expand or contract at different rates. This tiny, inconsistent deformation will directly affect the sensitive sensing element, which will cause the output characteristics of the core chips such as the operational amplifier and voltage reference source inside the sensor to change with temperature. Even if the sensor is in an absolutely horizontal state (input is zero), its output voltage or digital reading will deviate from zero with temperature changes. This is called "zero drift". Therefore, when the monitoring device is installed outdoors, experiencing diurnal temperature variations and seasonal changes, the sensor readings will slowly change throughout the day. Even if the building itself does not move at all, the monitoring data will show a seemingly regular "periodic tilt," which can seriously mislead judgment, making it impossible to distinguish between real building deformation and false signals caused by temperature, thus leading to errors in monitoring accuracy. To avoid this, a high-precision temperature detector 6 is integrated to monitor the ambient temperature of the sensor chip in real time and synchronously. This temperature data is then input into a pre-set temperature compensation mathematical model in the error correction module. This model is established through high and low temperature calibration tests on the sensor before it leaves the factory. The tests recorded the zero-point and sensitivity change curves of the sensor at different temperatures and generated compensation coefficients. In actual operation, the system subtracts the temperature-induced error component from the original tilt angle data in real time by looking up tables or formulas, effectively suppressing temperature drift and significantly improving the long-term measurement accuracy and stability of the monitoring device in real and complex environments, ensuring the reliability and credibility of the data.
[0024] To ensure the stability of sensor signal acquisition and data transmission, in one embodiment, the top surface of the base 1 is provided with a protective shell 7, and the bottom surface of the base 1 is provided with a quick-release mounting seat 9. During the construction process, the construction site is dusty, and the device needs to work outdoors for a long time, facing rain and snow. Therefore, the protective shell 7 can effectively prevent moisture and corrosive gases from entering the shell, avoid short circuits and oxidation and corrosion of components, and ensure the long-term reliability and lifespan of the electronic system in harsh environments.
[0025] To facilitate installation, in one embodiment, the quick-release mounting base 9 is modularly designed. To ensure rapid installation of the monitoring device in various construction environments, different quick-release mounting bases 9 can be used depending on the application scenario. For example, a strong magnetic chuck can be used for installation on magnetic surfaces such as steel structure columns and steel formwork, while a vacuum-adhesive quick-release mounting base 9 can be used for installation on smooth concrete walls, ceramic tiles, or glass curtain wall joists. By using quick-release mounting bases 9, work efficiency can be improved.
[0026] To reduce interference from the external environment and improve monitoring accuracy, in one embodiment, a damping layer 8 is provided between the quick-release mounting base 9 and the base 1. Construction sites are filled with various high-frequency vibration sources, such as pile drivers, heavy vehicle traffic, and concrete vibration operations. These vibrations are transmitted to the monitoring device through the building structure, generating significant additional acceleration that is captured by the tilt sensor and accelerometer, severely interfering with their perception of the static gravity field. This results in drastic jumps and noise in the tilt angle readings, failing to reflect the true, slow deformation of the building. Furthermore, long-term or severe vibrations may cause fatigue damage to the internal microstructure of the sensor, weld cracking, or performance degradation. The damping layer 8 effectively buffers the impact and vibration energy from the mounting surface, preventing this energy from being directly transmitted to the core electronic components, significantly reducing the failure rate, extending the device's service life in harsh industrial environments, and reducing data spikes and false alarms caused by vibration interference. This makes each warning signal triggered by the system more representative and reliable, improving the overall monitoring accuracy of the monitoring device.
[0027] Since building deformation is a slow and continuous process, its trend can be used to predict whether it will develop into a dangerous situation, thus issuing an early warning and providing valuable intervention time for management personnel. In one embodiment, the control terminal 5 also includes a cloud platform and a prediction module. The cloud platform stores the verticality monitoring data output by the control terminal 5, and the prediction module generates prediction data from the data stored on the cloud platform. The control terminal 5 compares the prediction results with the current correction value and outputs a warning signal. Through various monitoring devices deployed on the building structure, reliable verticality deviation data after error correction is continuously uploaded to the central database of the cloud platform via the communication module. This data has precise timestamps, forming continuous time series data. By learning from this data, the algorithm captures the change patterns, periodicity, and development trends in the data, and based on this, generates a verticality change prediction curve for a future period. If the future verticality deviation will exceed the allowable safety threshold, a warning signal will be generated to alert the user.
[0028] Since fusing sensor data using the Kalman filter algorithm is a computationally intensive task, it significantly increases the workload and power consumption of the microprocessor. If the error correction module operates continuously, even in an ideal state where the device is completely stationary and free from interference, it will result in enormous power waste. This is unsustainable for monitoring devices that rely on batteries or solar power. Furthermore, during construction, there are many relatively stable periods (such as nighttime and curing periods) where there is no strong vibration interference and the building's deformation is extremely slow. During these periods, the readings of the dual-axis tilt sensor 2 are already accurate enough, eliminating the need to activate complex fusion algorithms. Therefore, in one embodiment, the control terminal 5 is also pre-configured with a start-up trigger module. The start-up trigger module is communicatively connected to the triaxial accelerometer. When the detection result of the triaxial accelerometer reaches a set threshold, the start-up trigger module activates the error correction module. By activating the high-energy-consuming error correction module only when necessary, the system can maintain an extremely low power consumption level most of the time, thereby greatly extending battery life, reducing maintenance frequency, and improving the unattended operation capability of the device. This avoids the processor continuously performing unnecessary complex calculations, freeing it from heavy tasks and allowing it to respond more quickly to other tasks (such as communication and data recording), or to achieve a deeper power-saving state in sleep mode.
[0029] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.
Claims
1. A vertical monitoring device for building construction, characterized in that: The system includes a base, a dual-axis tilt sensor, an inertial measurement unit (IMU), a control terminal, and a level calibrator. The dual-axis tilt sensor and IMU are mounted from top to bottom at the orthogonal point on the top of the base. The level calibrator is mounted parallel to the outer wall of the base. The control terminal is installed inside the base and communicates with the dual-axis tilt sensor and IMU. The base is mounted on the surface of the structural member whose verticality needs to be monitored. The level calibrator is used to calibrate the horizontal value of the base during installation. The dual-axis tilt sensor is used to detect the tilt angle of the building. The IMU is used to detect the dynamic vector change of the base during monitoring. The control terminal includes an error correction module, which corrects the verticality deviation based on the detection results of the dual-axis tilt sensor and IMU and outputs the verticality deviation. The inertial measurement unit consists of a three-axis accelerometer and a three-axis gyroscope. The three-axis accelerometer is used to detect the acceleration change value of the base during the monitoring process, and the three-axis gyroscope is used to detect the rotation angle change value of the base. The error correction module calculates the current verticality deviation value based on the detection results of the dual-axis tilt sensor, the three-axis accelerometer, and the three-axis gyroscope using a Kalman filter algorithm.
2. The vertical monitoring device for building construction according to claim 1, characterized in that: The base is also equipped with a temperature detector at its top. The temperature detector is connected to the error correction module and monitors the ambient temperature in real time. The error correction module corrects the detection results of the dual-axis tilt sensor based on the detection results of the temperature detector.
3. A vertical monitoring device for building construction according to claim 1, characterized in that: The top surface of the base is provided with a protective shell, and the bottom surface of the base is provided with a quick-release mounting base.
4. A vertical monitoring device for building construction according to claim 3, characterized in that: The quick-release mounting bracket is modular.
5. A vertical monitoring device for building construction according to claim 3, characterized in that: A shock-absorbing layer is provided between the quick-release mounting bracket and the base.
6. A vertical monitoring device for building construction according to claim 1, characterized in that: The control terminal also includes a cloud platform and a prediction module. The cloud platform is used to store the verticality monitoring data output by the control terminal. The prediction module generates prediction data from the data stored in the cloud platform. The control terminal compares the prediction results with the current correction value and outputs an early warning signal.
7. A vertical monitoring device for building construction according to claim 1, characterized in that: The control terminal is also equipped with a pre-set start-up trigger module, which is connected to the triaxial accelerometer. When the detection result of the triaxial accelerometer reaches a set threshold, the start-up trigger module activates the error correction module.