Beidou No.3 high-precision monitoring terminal and method for wind power tower drum

Abstract

The invention provides a Beidou No.3 high-precision monitoring terminal and method for a wind power tower, and relates to the technical field of structural health monitoring. The monitoring terminal comprises a protective shell, and a main control module, a Beidou positioning module, a multi-source sensing module, a power management module, a communication module and a storage module which are arranged in the protective shell; the master control module is in bidirectional communication connection with the Beidou positioning module, the multi-source sensing module, the communication module and the storage module and is used for scheduling tasks, processing data collected by the modules and controlling the communication process. The monitoring terminal can be applied to a wind power environment, millimeter-level monitoring can be realized, the environmental adaptability is high, and reliable acquisition and transmission of data under low power consumption are ensured through control of the main control module.

Description

Technical Field

[0001] This application relates to the field of structural health monitoring technology, and in particular to a BeiDou-3 high-precision monitoring terminal and method for wind turbine towers. Background Technology

[0002] During operation, wind turbine towers are affected by wind, gravity, and ground settlement, causing slight changes in their verticality. Excessive tilting can lead to major accidents such as tower breakage or even collapse. Currently, monitoring mainly relies on manual inspection using total stations or the installation of tilt sensors. The former is inefficient, costly, and cannot provide real-time monitoring; the latter suffers from insufficient accuracy (typically at the centimeter level), susceptibility to temperature-induced zero drift, and poor long-term stability. Existing GPS monitoring terminals also struggle to meet the accuracy and reliability requirements for millimeter-level real-time safety monitoring in complex environments such as strong electromagnetic interference in wind farms and signal obstruction in remote areas. Summary of the Invention

[0003] This application provides a BeiDou-3 high-precision monitoring terminal and method for wind turbine towers, aiming to overcome the shortcomings of existing technologies. One objective is to provide a BeiDou high-precision monitoring terminal specifically designed for wind power environments, capable of millimeter-level monitoring and possessing strong environmental adaptability. Another objective is to provide a working method for this terminal, ensuring reliable data acquisition and transmission under low power consumption.

[0004] This application provides a Beidou-3 high-precision monitoring terminal for wind turbine towers, characterized in that it includes a protective shell and a main control module, a Beidou positioning module, a multi-source sensing module, a power management module, a communication module, and a storage module built into the protective shell; The main control module is bidirectionally connected to the Beidou positioning module, multi-source sensing module, communication module, and storage module, and is used to schedule tasks, process data collected by each module, and control the communication process. The power management module is electrically connected to the main control module, Beidou positioning module, multi-source sensing module, communication module, and storage module respectively, and is used to provide stable power supply to each module. The multi-source sensing module includes an inertial measurement unit, a temperature sensor, and a vibration sensor. The inertial measurement unit, temperature sensor, and vibration sensor are all directly connected to the main control module and output attitude data, temperature data, and vibration data to the main control module, respectively. The BeiDou positioning module is communicatively connected to the main control module and transmits raw satellite observation data to the main control module; The communication module is connected to the main control module and is used to receive the data to be transmitted output by the main control module and upload it to the cloud. At the same time, it receives the instructions issued by the cloud and feeds them back to the main control module. The storage module is in communication connection with the main control module, and is used for buffering satellite original observation data and sensor data; The protective shell is internally provided with heat-conducting silica gel and heat-dissipating fins, and externally provided with an antenna interface, a power supply interface and a solar panel interface, the antenna interface is connected with the Beidou positioning module and the communication module, and the power supply interface and the solar panel interface are connected with the power management module.

[0005] Further, the Beidou positioning module adopts a high-precision board card supporting Beidou-III B1C and B2a full-frequency signal, and is internally provided with an RTK algorithm engine, and is used for receiving satellite carrier phase and pseudo-range observation values.

[0006] Further, the communication module includes a 4G / 5G communication module and a Beidou short message communication module, the 4G / 5G communication module serves as a main communication channel, the Beidou short message communication module serves as a backup communication channel, the 4G / 5G communication module and the Beidou short message communication module are in communication connection with the main control module, and can be automatically switched under the control of the main control module.

[0007] Further, the power management module includes a wide-voltage input circuit, a lithium battery pack and a solar charging controller, the wide-voltage input circuit supports 12V-36V DC input, the solar charging controller is adapted to the solar panel interface, and the lithium battery pack is used for energy storage power supply.

[0008] Further, the protective shell is made of metal material, so that the terminal can normally work in an environment temperature of-40℃ to 75℃.

[0009] Further, the main control module adopts a low-power microprocessor unit.

[0010] Further, the inertial measurement unit is a six-axis sensor, including a three-axis accelerometer and a three-axis gyroscope, and is used for compensating vibration and instantaneous deformation in a short-time positioning blind area.

[0011] Further, the storage module is a non-volatile memory, and the buffering capacity supports data storage for at least 30 days.

[0012] In a second aspect, the application provides a Beidou-III high-precision monitoring method for a wind power tower, based on the Beidou-III high-precision monitoring terminal for a wind power tower as described above, the method comprises the following steps: The Beidou positioning module continuously receives satellite signals and outputs original observation data, the inertial measurement unit, the temperature sensor and the vibration sensor synchronously collect attitude data, temperature data and vibration data, and all the data are transmitted to the main control module; The main control module performs quality inspection, temperature drift compensation and format packaging on the received original data, to form a standard data package; The master control module controls the communication module to upload standard data packets in real time to a cloud computing platform through a 4G / 5G communication channel. If the 4G / 5G communication is interrupted, the master control module controls the communication module to automatically switch to a Beidou short message communication channel to transmit key state information. The master control module receives instructions issued by the cloud platform through the communication module and performs parameter configuration, firmware upgrade or restart operation.

[0013] Further, the sampling frequency of the Beidou positioning module is 3-8 Hz, the sampling frequency of the inertial measurement unit is 80-120 Hz, and the sampling frequency of the temperature sensor and the vibration sensor is 0.5-1.5 Hz.

[0014] The Beidou No. 3 high-precision monitoring terminal and method for a wind power tower provided by the application have at least the following beneficial effects: 1) The Beidou positioning module of the terminal uses a high-precision board card supporting Beidou No. 3 B1C and B2a full-frequency point signals, and is built-in with an RTK algorithm engine, which can accurately receive satellite carrier phase and pseudorange observation values; at the same time, the six-axis IMU in the multi-source sensing module can compensate for the vibration and instantaneous deformation of the short-time positioning blind area, and after the cloud RTK calculation, the positioning accuracy is greatly improved, which is much better than the existing centimeter-level monitoring scheme, and can capture the small verticality changes of the wind power tower caused by wind, foundation settlement, etc. in real time, and early warning of excessive inclination risk can avoid major accidents such as tower fracture and collapse.

[0015] 2) The terminal uses a metal protective shell with IP67 protection level, is filled with heat-conducting silica gel inside, and is provided with heat dissipation fins, can work stably in an extreme temperature environment of-40℃ to 75℃, and can effectively resist the influence of high humidity, dust and large temperature difference in the wind farm; in terms of communication guarantee, the communication module adopts a redundant design of 4G / 5G main channel and Beidou short message backup channel, when mobile signal shielding or interruption occurs in remote areas of the wind farm, it can automatically switch to Beidou short message to transmit key state information such as displacement trend and equipment power, reducing the loss probability of monitoring data, and solving the problem of insufficient reliability of the existing GPS terminal in strong electromagnetic interference and signal blind area.

[0016] 3) The terminal innovatively integrates the Beidou positioning module and the multi-source sensing module, in addition to realizing position monitoring, it can also synchronously collect tower posture data, environment and chip temperature data, and tower vibration data: temperature data can assist in sensor temperature drift compensation, improving long-term monitoring stability; vibration data combined with frequency spectrum analysis can identify changes in the inherent frequency of the tower, and judge whether the structure has fatigue damage, providing position-posture-vibration-temperature comprehensive tower state data for operation and maintenance personnel, which can better support comprehensive evaluation and fault tracing of structural health compared with single monitoring scheme.

[0017] 4) The power management module adopts a 12V-36V DC wide voltage input design, and is equipped with a lithium battery pack and a solar charging controller. In wind farm scenarios without mains power supply, it can achieve continuous energy storage through solar power. When the lithium battery pack is powered alone, it can ensure that the terminal can work continuously for no less than 7 days. At the same time, the main control module uses a low-power ARM Cortex-M4 core microprocessor. The sampling frequency of each module is optimized as needed. Combined with data caching and on-demand transmission strategies, energy consumption is greatly reduced, which can achieve unattended operation for several years. This avoids the high cost of manual periodic inspections and significantly improves the economy and convenience of wind turbine tower monitoring.

[0018] 5) The terminal supports receiving instructions from the cloud platform through the communication module, and can remotely complete parameter configuration, firmware upgrade and device restart without the need for on-site operation by maintenance personnel. It is especially suitable for wind farms in remote locations with inconvenient transportation. At the same time, the storage module uses non-volatile memory, which can cache at least 30 days of raw data. Even if there is a brief communication interruption, the data can be retransmitted after the network is restored, ensuring the continuity of monitoring data and further reducing the difficulty and cost of operation and maintenance. Attached Figure Description

[0019] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0020] Figure 1 A structural diagram of a protective casing for a BeiDou-3 high-precision monitoring terminal for wind turbine towers, provided in an embodiment of this application; Figure 2 This application provides a structural diagram of the internal structure of the protective shell of a Beidou-3 high-precision monitoring terminal for wind turbine towers, as shown in the embodiments of this application. Figure 3 A flowchart illustrating a BeiDou-3 high-precision monitoring method for wind turbine towers, provided as an embodiment of this application.

[0021] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0022] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0023] The collection, storage, use, processing, transmission, provision, and disclosure of financial data or user data involved in the technical solution of this application all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0024] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0025] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0026] Example 1: This application provides a BeiDou-3 high-precision monitoring terminal for wind turbine towers. For example... Figure 1 As shown, the BeiDou-3 high-precision monitoring terminal for wind turbine towers includes a protective shell and a main control module, a BeiDou positioning module, a multi-source sensing module, a power management module, a communication module, and a storage module built into the protective shell. The main control module is bidirectionally connected to the BeiDou positioning module, the multi-source sensing module, the communication module, and the storage module, and is used for task scheduling, processing data collected by each module, and controlling the communication process. The power management module is electrically connected to the main control module, the BeiDou positioning module, the multi-source sensing module, the communication module, and the storage module, and is used to provide stable power to each module. The multi-source sensing module includes an inertial measurement unit, a temperature sensor, and a vibration sensor. The inertial measurement unit, the temperature sensor, and the vibration sensor are all connected to... The main control module is directly connected to the main control module, and outputs attitude data, temperature data, and vibration data to it respectively. The Beidou positioning module is connected to the main control module to transmit raw satellite observation data. The communication module is connected to the main control module to receive the data to be transmitted from the main control module and upload it to the cloud, while receiving instructions from the cloud and feeding them back to the main control module. The storage module is connected to the main control module to cache raw satellite observation data and data from various sensors. The protective shell has thermally conductive silicone and heat dissipation fins inside, and antenna interface, power interface, and solar panel interface on the outside. The antenna interface is connected to the Beidou positioning module and the communication module, and the power interface and solar panel interface are both connected to the power management module.

[0027] In specific implementation, an external 12V-36V DC power supply or a solar panel is connected to the power management module through the power supply interface and the solar panel interface of the protective shell. The power management module stably distributes power to the main control module, the Beidou positioning module, the multi-source sensing module, the communication module, and the storage module, providing power support for the start-up and operation of all modules. If the external power supply is interrupted, the built-in lithium battery pack can continue to supply power, ensuring that the terminal does not stop working. After starting, the main control module schedules the synchronous work of each data acquisition module: the Beidou positioning module receives Beidou-3 B1C, B2a, and other full-frequency satellite signals through the antenna interface of the protective shell, acquires satellite raw observation data (carrier phase, pseudorange), and transmits them to the main control module. In the multi-source sensing module, the inertial measurement unit (IMU) acquires tower posture data, the temperature sensor acquires internal and external temperature data, and the vibration sensor acquires tower vibration data, all of which are directly transmitted to the main control module. The main control module processes the received satellite raw observation data, attitude data, temperature data, and vibration data, first completes data quality inspection (eliminates outliers) and temperature drift compensation (corrects other sensor errors based on temperature data), and then encapsulates the processed data into a standard format. At the same time, the main control module synchronously transmits the raw data and the processed data to the storage module, which caches the data to ensure that no data is lost. The main control module controls the communication module to work, and the communication module transmits the standard format data to the cloud platform through the antenna interface, preferably using the 4G / 5G main channel. If the 4G / 5G signal is interrupted, the communication module automatically switches to the Beidou short message backup channel and transmits key state data (such as displacement trend, device power). In addition, the communication module receives remote instructions (such as parameter configuration, firmware upgrade instructions) issued by the cloud platform and feeds them back to the main control module. The main control module performs corresponding operations according to the instructions to realize remote management of the terminal. The protective shell is resistant to dust and rain erosion in wind farms through the use of metal materials and IP67 protection level. The internal heat-conducting silicone and heat dissipation fins conduct the heat generated by the operation of each module to the shell, and then dissipate it through the shell fins, ensuring that each module can still operate stably at extreme temperatures of -40°C to 75°C.

[0028] In some embodiments, the main control module uses a microprocessor with a low-power ARM Cortex-M4 core (such as STM32H743) to run control programs, task scheduling, and data preprocessing.

[0029] In some embodiments, the Beidou positioning module uses a high-precision RTK board card (such as Huace UM980) that supports Beidou-3 B1C and B2a signals. The built-in RTK algorithm engine can output carrier phase and pseudorange observation values, meeting the millimeter-level precision requirement.

[0030] In some embodiments, the inertial measurement unit (IMU) employs a six-axis sensor, which includes a three-axis accelerometer and a three-axis gyroscope, for compensating for short positioning blind areas.

[0031] In some embodiments, temperature sensors are used to monitor the internal and external temperatures of the terminal in real time, assisting in temperature drift compensation. Vibration sensors are used to collect tower cylinder vibration characteristics, combined with frequency spectrum analysis to identify structural abnormalities.

[0032] In some embodiments, the communication module employs a 4G / 5G communication module as the main channel, while integrating a Beidou short message communication unit as a backup channel for small data transmission in mobile signal blind areas.

[0033] In some embodiments, the power management module includes a wide voltage input circuit supporting 12V-36VDC, a set of lithium batteries with a capacity of 10Ah, and a solar charging control unit with a maximum power of 20W, which can provide continuous power for at least 7 days without city power.

[0034] In some embodiments, the storage module employs a built-in non-volatile memory for caching satellite and sensor raw data, with a cache capacity that can support 30 days of data storage.

[0035] In some embodiments, the protective shell adopts an aluminum alloy integrated structure with IP67 protection level, with external heat dissipation fins and internal heat-conducting silicone to ensure stable operation in an environment of -40°C to +75°C.

[0036] This embodiment verifies the terminal in a simulated wind farm environment: three sets of terminals are installed at the top of a 60-meter tower, and the positioning accuracy reaches ±2mm compared with the actual measurement results of the total station; in a -35°C freezer environment, the terminal can start normally and maintain communication; in an electromagnetic shielding environment, the terminal automatically switches to Beidou short message communication when the 4G signal is forcibly interrupted, and successfully sends key state data.

[0037] Embodiment 2: The embodiments of the present application provide a Beidou-3 high-precision monitoring method for a wind turbine tower, based on the Beidou-3 high-precision monitoring terminal for a wind turbine tower as described in Embodiment 1, as shown in Figure 3 The method comprises the following steps: Step 1: Data acquisition.

[0038] The Beidou positioning module outputs satellite observation data at a sampling frequency of 5Hz, while the IMU outputs attitude data at 100Hz, and the temperature and vibration sensors are sampled at 1Hz.

[0039] Step 2: Local preprocessing.

[0040] The main control module performs outlier rejection and temperature drift compensation on the received data, and uniformly packages it into a standard data packet.

[0041] Step 3: Data transmission.

[0042] When the network is normal, the data is uploaded to the cloud computing platform in real time through the 4G / 5G module, and the encrypted transmission protocol is used to ensure data integrity.

[0043] Step 4: Backup transmission.

[0044] If the network is interrupted, the system automatically switches to the Beidou short message mode, and only transmits key state parameters (such as displacement trend, device power, working state), ensuring uninterrupted monitoring.

[0045] Step 5: Remote configuration and upgrade.

[0046] The cloud platform can issue parameter configuration instructions, and the main control module can switch the working mode, adjust the data sampling rate according to the instructions, and support remote firmware upgrade.

[0047] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A Beidou-III high-precision monitoring terminal for a wind power tower, characterized in that, The application relates to a Beidou No. 3 high-precision monitoring terminal for a wind power tower, which comprises a protective shell and a main control module, a Beidou positioning module, a multi-source sensing module, a power management module, a communication module and a storage module which are arranged in the protective shell. The main control module is in bidirectional communication connection with the Beidou positioning module, the multi-source sensing module, the communication module and the storage module, is used for scheduling tasks, processing data collected by the modules and controlling a communication process, and is in electric connection with the power management module. The power management module is in electric connection with the main control module, the Beidou positioning module, the multi-source sensing module, the communication module and the storage module, and is used for providing stable power supply for the modules. The multi-source sensing module comprises an inertial measurement unit, a temperature sensor and a vibration sensor, and the inertial measurement unit, the temperature sensor and the vibration sensor are in direct communication connection with the main control module and output attitude data, temperature data and vibration data to the main control module respectively. The Beidou positioning module is in communication connection with the main control module and transmits satellite original observation data to the main control module. The communication module is in communication connection with the main control module, is used for receiving data output by the main control module and uploading the data to a cloud end, and receives instructions issued by the cloud end and feeds back the instructions to the main control module. The storage module is in communication connection with the main control module and is used for buffering satellite original observation data and sensor data. The protective shell is internally provided with heat-conducting silica gel and heat-dissipating fins, externally provided with an antenna interface, a power supply interface and a solar panel interface, the antenna interface is connected with the Beidou positioning module and the communication module, and the power supply interface and the solar panel interface are connected with the power management module.

2. The Beidou-3 high-precision monitoring terminal for a wind power tower according to claim 1, characterized in that, The Beidou positioning module adopts a high-precision board card supporting Beidou No. 3 B1C and B2a full-frequency point signals and is internally provided with an RTK algorithm engine and is used for receiving satellite carrier phase and pseudo-range observation values.

3. The Beidou-3 high-precision monitoring terminal for a wind power tower according to claim 1, characterized in that, The communication module comprises a 4G / 5G communication module and a Beidou short message communication module, the 4G / 5G communication module is used as a main communication channel, the Beidou short message communication module is used as a backup communication channel, the 4G / 5G communication module and the Beidou short message communication module are in communication connection with the main control module and can be automatically switched under the control of the main control module.

4. The Beidou-3 high-precision monitoring terminal for a wind power tower according to claim 1, characterized in that, The power management module comprises a wide-voltage input circuit, a lithium battery group and a solar charging controller, the wide-voltage input circuit supports 12V-36V direct-current input, the solar charging controller is matched with the solar panel interface, and the lithium battery group is used for energy storage and power supply.

5. The Beidou-3 high-precision monitoring terminal for a wind power tower according to claim 1, characterized in that, The protective shell is made of metal material, so that the terminal can normally work in an environment temperature of-40 DEG C to 75 DEG C.

6. The Beidou-3 high-precision monitoring terminal for a wind power tower according to claim 1, characterized in that, The main control module adopts a low-power-consumption microprocessor unit.

7. The Beidou-3 high-precision monitoring terminal for a wind power tower according to claim 1, characterized in that, The inertial measurement unit is a six-axis sensor, comprises a three-axis accelerometer and a three-axis gyroscope and is used for compensating vibration and instantaneous deformation of a short-time positioning blind area. 8.The Beidou-3 high-precision monitoring terminal for wind power towers according to claim 1, characterized in that, The storage module is a non-volatile memory and has a buffering capacity of at least supporting 30-day data storage.

9. A Beidou-3 high-precision monitoring method for a wind power tower, characterized in that, The application further discloses a method for using the Beidou No. 3 high-precision monitoring terminal for a wind power tower. The Beidou positioning module continuously receives satellite signals and outputs original observation data, the inertial measurement unit, the temperature sensor and the vibration sensor synchronously collect attitude data, temperature data and vibration data, and all the data are transmitted to the main control module. The master module performs quality check, temperature drift compensation and format packaging on the received raw data to form a standard data packet; The master module controls the communication module to upload the standard data packet to the cloud computing platform in real time through the 4G / 5G communication channel; If the 4G / 5G communication is interrupted, the master module controls the communication module to automatically switch to the Beidou short message communication channel to transmit key state information; The master module receives the instructions issued by the cloud platform through the communication module and performs parameter configuration, firmware upgrade or restart operation.

10. The Beidou-3 high-precision monitoring method for a wind power tower drum according to claim 9, characterized in that, The sampling frequency of the Beidou positioning module is 3-8Hz, the sampling frequency of the inertial measurement unit is 80-120Hz, and the sampling frequency of the temperature sensor and the vibration sensor is 0.5-1.5Hz.

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