Multi-layer distributed attitude sensing device

Abstract

The invention belongs to the technical field of attitude monitoring, and relates to a multilayer distributed attitude sensing device which comprises a first sensing module, a second sensing module, a third sensing module and a data processing module. The sensing modules are vertically arranged at the bottom, the middle and the top of the equipment to form a three-dimensional sensing network, inclination angles and instantaneous acceleration data of different heights are synchronously acquired, and multi-dimensional judgment logic is established based on difference values, ratios and time synchronism of parameters of each level, so that inclination inducements can be distinguished, abnormal causes can be accurately judged, and the accuracy of the judgment result is improved. The method also can distinguish the overall rigid body inclination and local structure deformation of the equipment, can reflect the movement difference of different height positions, effectively inhibits the local vibration interference, reduces the false alarm, achieves the precise recognition of various abnormal working conditions, such as the differential settlement of a foundation, the upper deviation, the lateral wind power, the top shaking, the overall impact and the earthquake, and improves the recognition precision. And the accuracy, reliability and fault traceability of outdoor vertical equipment attitude monitoring are greatly improved.

Description

Technical Field

[0001] This invention belongs to the field of attitude monitoring technology and relates to a multi-layer distributed attitude sensing device. Background Technology

[0002] Outdoor vertical equipment typically includes communication base station poles, traffic signal poles, small meteorological observation towers, photovoltaic brackets, charging pile columns, etc. During long-term service, they continuously endure multiple environmental effects such as uneven ground settlement, strong wind loads, accidental collisions, ground vibrations, and material aging. Their structural stability and functional reliability are directly related to public safety and operational continuity.

[0003] Currently, the industry commonly uses tilt sensors for attitude monitoring, with the mainstream solution being single-point deployment: a high-precision tilt sensor is installed at a specific location on the upper part of the equipment. It collects static tilt angle values ​​in real time to determine if limits are exceeded and triggers an early warning upon exceeding the limits. This method is technically mature, low-cost, and easy to deploy, and has already established a certain application base in small and medium-sized equipment.

[0004] However, single-point attitude monitoring solutions have inherent limitations: First, the same tilt angle reading may originate from overall settlement of the foundation at the bottom, or it may be caused by wind load at the top or local collisions, making it impossible to determine the cause of the tilt and resulting in a lack of accurate basis for handling after the warning; Second, it is difficult to distinguish whether the equipment is tilting as a rigid whole or experiencing local plastic deformation such as buckling in the middle or cracking at the bottom; Third, for slender vertical equipment, single-point measurement cannot reflect the differences in motion at different height positions, and it is easy to miss key signs of instability; Fourth, it is significantly affected by local vibration interference, such as equipment resonance under strong winds or instantaneous acceleration pulses caused by vehicles passing by, which can cause the tilt angle data to jump and produce false alarms. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-layer distributed attitude sensing device that can vertically arrange sensors in multiple layers on a device to form a three-dimensional sensing network. By comparing and analyzing the data from different layers of sensors, it can accurately identify various abnormal states of the device and thus provide precise early warning of abnormal states of the device.

[0006] To achieve the above objectives, the technical solution provided by the present invention is as follows: A multi-layer distributed attitude sensing device, comprising: The first sensing module is located at the bottom of the device and is used to detect the first tilt angle of the bottom of the device relative to the horizontal plane and the first instantaneous acceleration generated by the vibration of the bottom of the device. The second sensing module is located in the middle of the device and is used to detect the second tilt angle of the device as a whole relative to the horizontal plane and the second instantaneous acceleration generated by the vibration of the device as a whole. The third sensing module, located on the top of the device, is used to detect the third instantaneous acceleration generated by vibrations at the top of the device. The data processing module is used to receive and process the first tilt angle, the first instantaneous acceleration, the second tilt angle, the second instantaneous acceleration, and the third instantaneous acceleration. When the first tilt angle is greater than the second tilt angle and the difference between the two exceeds the first preset threshold, it is determined that there is local ground subsidence and a corresponding abnormal state warning is triggered. When the second instantaneous acceleration is greater than the first instantaneous acceleration and the difference between the two exceeds the second preset threshold, it is determined that the upper part of the equipment has shifted or been subjected to force and a corresponding abnormal state warning is triggered. When the third instantaneous acceleration is greater than the second instantaneous acceleration and the ratio between the two exceeds the third preset threshold, it is determined that the equipment is subjected to lateral wind force or swaying of the top suspended object and a corresponding abnormal state warning is triggered. When the first instantaneous acceleration, the second instantaneous acceleration, and the third instantaneous acceleration all show instantaneous amplitude abrupt changes, and the time difference between the abrupt changes of each instantaneous acceleration is less than the fourth preset threshold, it is determined that the equipment as a whole has been subjected to external impact or earthquake and a corresponding abnormal state warning is triggered.

[0007] The invention is further characterized by: The first sensing module includes: a first tilt sensor, which is disposed at the bottom of the device and electrically connected to the data processing module. The first tilt sensor is used to detect the first tilt angle of the bottom of the device relative to the horizontal plane and feed it back to the data processing module; and a first acceleration sensor, which is disposed at the bottom of the device and electrically connected to the data processing module. The first acceleration sensor is used to detect the first instantaneous acceleration generated by the vibration of the bottom of the device and feed it back to the data processing module.

[0008] The second sensing module includes: a second tilt sensor, located in the middle of the device, electrically connected to the data processing module, which is used to detect the second tilt angle of the device as a whole relative to the horizontal plane and feed it back to the data processing module; and a second acceleration sensor, located in the middle of the device, electrically connected to the data processing module, which is used to detect the second instantaneous acceleration generated by the vibration of the device as a whole and feed it back to the data processing module.

[0009] The second sensing module also includes a gyroscope, which is located in the middle of the device. The gyroscope is electrically connected to the data processing module. The gyroscope is used to detect the angular velocity of the device and feed it back to the data processing module. When the angular velocity is greater than zero, the data processing module determines that the device as a whole is rotating under the action of torque and triggers a corresponding abnormal state warning.

[0010] The third sensing module includes a third acceleration sensor, which is installed on the top of the device. The third acceleration sensor is electrically connected to the data processing module. The third acceleration sensor is used to detect the third instantaneous acceleration generated by the vibration of the top of the device and feed it back to the data processing module.

[0011] The third sensing module also includes a positioning unit, which is located on the top of the device. The positioning unit is electrically connected to the data processing module. The positioning unit is used to detect the position offset of the device and feed it back to the data processing module. When the position offset exceeds the fifth preset threshold and it is determined that the device as a whole has been subjected to an external impact or earthquake, the data processing module determines that the device has been displaced and triggers a corresponding abnormal state warning. When the position offset exceeds the fifth preset threshold and there is no determination that the device as a whole has been subjected to an external impact or earthquake, the data processing module determines that the device has been stolen and triggers a corresponding abnormal state warning.

[0012] The first preset threshold is 0.3°~0.5°, the second preset threshold is 1°~5°, the third preset threshold is 1.5 times~2.0 times, the fourth preset threshold is 40ms~60ms, and the fifth preset threshold is 0.5m~1m.

[0013] The positioning unit uses GPS, BeiDou, and GLONASS multi-satellite navigation system fusion positioning technology.

[0014] The amplitude of the instantaneous amplitude change of the first, second and third instantaneous accelerations is greater than 2g to 3g.

[0015] It also includes an alarm output unit, which is electrically connected to the data processing module. The alarm output unit includes an audible and visual alarm and a wireless communication unit. When the data processing module determines that any abnormal state of the equipment occurs, it controls the audible and visual alarm to start and issue an early warning, and sends the abnormal state to the remote monitoring platform through the wireless communication unit.

[0016] The multi-layer distributed attitude sensing device of the present invention has the following advantages: This invention forms a three-dimensional sensing network by vertically arranging sensing modules at the bottom, middle, and top of the equipment. It synchronously collects tilt angle and instantaneous acceleration data at different heights and establishes a multi-dimensional judgment logic based on the differences, ratios, and time synchronization of parameters at each level. This not only distinguishes the causes of tilt and accurately identifies the causes of anomalies, but also differentiates between overall rigid tilt and local structural deformation. It can also reflect the motion differences at different heights, capture signs of instability, and effectively suppress local vibration interference, reducing false alarms. This enables accurate identification of various abnormal conditions such as uneven foundation settlement, upper displacement, lateral wind force, top swaying, overall impact, and earthquakes. It significantly improves the accuracy, reliability, and fault tracing capabilities of outdoor vertical equipment attitude monitoring, effectively ensuring the structural stability and operational safety of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention. Detailed Implementation

[0018] The technical solutions of the present invention will now be described clearly and in detail with reference to the accompanying drawings. In the description of the embodiments of the present invention, unless otherwise stated, " / " indicates "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, in the description of the embodiments of the present invention, "multiple" refers to two or more. The terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature.

[0019] like Figure 1As shown, this invention provides a multi-layer distributed attitude sensing device, including a first sensing module, a second sensing module, a third sensing module, and a data processing module. The first sensing module is located at the bottom of the device and is used to detect a first tilt angle of the bottom of the device relative to the horizontal plane and a first instantaneous acceleration generated by vibration of the bottom of the device. The second sensing module is located in the middle of the device and is used to detect a second tilt angle of the entire device relative to the horizontal plane and a second instantaneous acceleration generated by vibration of the entire device. The third sensing module is located at the top of the device and is used to detect a third instantaneous acceleration generated by vibration of the top of the device. The data processing module is located on the device and is used to receive the first tilt angle, the first instantaneous acceleration, the second tilt angle, the second instantaneous acceleration, and the third instantaneous acceleration. Acceleration is processed, and when the first tilt angle is greater than the second tilt angle and the difference between the two exceeds the first preset threshold, it is determined to be local ground subsidence and a corresponding abnormal state warning is triggered. When the second instantaneous acceleration is greater than the first instantaneous acceleration and the difference between the two exceeds the second preset threshold, it is determined to be that the upper part of the equipment has shifted or been subjected to force and a corresponding abnormal state warning is triggered. When the third instantaneous acceleration is greater than the second instantaneous acceleration and the ratio between the two exceeds the third preset threshold, it is determined to be that the equipment is subjected to lateral wind force or swaying of the top suspended object and a corresponding abnormal state warning is triggered. When the first instantaneous acceleration, the second instantaneous acceleration and the third instantaneous acceleration all show instantaneous amplitude change, and the time difference between the changes in the instantaneous acceleration is less than the fourth preset threshold, it is determined that the equipment as a whole has been subjected to external impact or earthquake and a corresponding abnormal state warning is triggered. This invention forms a three-dimensional sensing network by vertically arranging sensing modules at the bottom, middle, and top of the equipment. It synchronously collects tilt angle and instantaneous acceleration data at different heights and establishes a multi-dimensional judgment logic based on the differences, ratios, and time synchronization of parameters at each level. This not only distinguishes the causes of tilt and accurately identifies the causes of anomalies, but also differentiates between overall rigid tilt and local structural deformation. It can also reflect the motion differences at different heights, capture signs of instability, and effectively suppress local vibration interference, reducing false alarms. This enables accurate identification of various abnormal conditions such as uneven foundation settlement, upper displacement, lateral wind force, top swaying, overall impact, and earthquakes. It significantly improves the accuracy, reliability, and fault tracing capabilities of outdoor vertical equipment attitude monitoring, effectively ensuring the structural stability and operational safety of the equipment.

[0020] like Figure 1As shown, the first sensing module includes a first tilt sensor and a first acceleration sensor. The first tilt sensor is located at the bottom of the device and is electrically connected to the data processing module. The first tilt sensor is used to detect the first tilt angle of the bottom of the device relative to the horizontal plane and feed it back to the data processing module. The first acceleration sensor is located at the bottom of the device and is electrically connected to the data processing module. The first acceleration sensor is used to detect the first instantaneous acceleration generated by the vibration of the bottom of the device and feed it back to the data processing module. By simultaneously deploying the tilt sensor and the acceleration sensor at the bottom of the device, the tilt and vibration acceleration data of the bottom can be acquired at the same time, providing basic data support for judging uneven settlement of the foundation, local vibration interference and abnormal stress at the bottom, and improving the comprehensiveness of bottom condition monitoring.

[0021] The first tilt sensor and the first acceleration sensor are fixed to the bottom of the equipment via a bottom sensor mounting bracket. The bottom sensor mounting bracket is made of aluminum alloy or engineering plastic, and is in the shape of a round or rectangular tray with dimensions of 80mm~120mm×80mm~120mm and a thickness of 3mm~5mm. The bottom sensor mounting bracket is fixed to the inner or outer wall of the main body of the equipment with M4 or M6 bolts. The installation position should be selected in a part with high structural strength and not easily deformed. The surface of the bottom sensor mounting bracket is machined with two mounting holes and a cable routing groove to facilitate the installation of the first tilt sensor and the first acceleration sensor and the cable management.

[0022] The first tilt sensor is a dual-axis tilt sensor using MEMS technology, with a measurement accuracy of ±0.2 degrees, a resolution of 0.01 degrees, and a measurement range of ±30 degrees to ±90 degrees. The first tilt sensor is rigidly fixed to the bottom sensor mounting base with M3 screws, and its measurement axis is parallel to the central axis of the equipment. The purpose of rigid fixing is to ensure that the first tilt sensor can accurately reflect the tilt state of the ground and is not affected by the vibration damping structure. The first tilt sensor is mainly used to determine the ground vibration signal by detecting the tilt angle of the bottom of the equipment, such as nearby construction work, passing vehicles, earthquakes, etc.

[0023] The first acceleration sensor is a triaxial MEMS acceleration sensor with a measurement range of ±8g to ±16g and a sampling frequency of not less than 100Hz. The first acceleration sensor is fixed next to the first tilt sensor, 20mm to 30mm away from the center of the device.

[0024] like Figure 1As shown, the second sensing module includes a second tilt sensor and a second acceleration sensor. The second tilt sensor is located in the middle of the device and is electrically connected to the data processing module. The second tilt sensor is used to detect the second tilt angle of the entire device relative to the horizontal plane and feed it back to the data processing module. The second acceleration sensor is located in the middle of the device and is electrically connected to the data processing module. The second acceleration sensor is used to detect the second instantaneous acceleration generated by the vibration of the entire device and feed it back to the data processing module. By deploying the second tilt sensor and the second acceleration sensor in the middle of the device, the tilt and vibration acceleration data of the entire device can be accurately obtained, and multi-dimensional comparison can be formed with the sensing data at the bottom and top. This provides core data support for distinguishing the overall rigid body posture of the device from local anomalies and constructing multi-level judgment logic.

[0025] The second tilt sensor and the second acceleration sensor are fixed in the middle of the device via a central sensor mounting bracket. For a device with a height of H, the installation height of the central sensing layer is 0.4H to 0.6H. The structure of the central sensor mounting bracket is similar to that of the bottom sensor mounting bracket, measuring 100mm to 150mm × 100mm to 150mm. The central sensor mounting bracket is fixed to the device with bolts. A flexible installation method is preferred, in which a silicone rubber shock-absorbing pad with a thickness of 2mm to 5mm and a hardness of Shore A50 to 70 is placed between the central sensor mounting bracket and the device. This flexible installation method can absorb high-frequency vibrations, avoid interference with the sensors, and allow low-frequency attitude change signals to pass through.

[0026] The second tilt sensor is a high-precision MEMS tilt sensor with a measurement accuracy of ±0.1 degrees and a resolution of 0.01 degrees. The second tilt sensor is fixed at the center of the central sensor mounting base, and its measurement axis is parallel to the central axis of the device. The second tilt sensor is the core sensor of the entire device, and its measurement result represents the overall tilt state of the device.

[0027] The second acceleration sensor is a triaxial MEMS acceleration sensor with a measurement range of ±8g to ±16g and a sampling frequency of not less than 100Hz. The second acceleration sensor is fixed next to the second tilt sensor. The second acceleration sensor is used to determine the overall motion state of the equipment by detecting the acceleration in the middle of the equipment, including vibration, swing, impact, etc.

[0028] like Figure 1As shown, the second sensing module also includes a gyroscope, which is located in the middle of the device and electrically connected to the data processing module. The gyroscope is used to detect the angular velocity of the device and feed it back to the data processing module. When the angular velocity is greater than zero, the data processing module determines that the device as a whole is rotating under the action of torque and triggers a corresponding abnormal state warning. By adding a gyroscope in the middle of the device and collecting angular velocity data, it is possible to achieve accurate monitoring and timely warning of the overall rotation and torsional state of the device, making up for the shortcomings of tilt and acceleration sensors in effectively identifying rotational abnormalities caused by torque, and further improving the all-round monitoring capability of the overall attitude of the device.

[0029] The gyroscope is a three-axis MEMS gyroscope with a measurement range of ±250 degrees / second to ±2000 degrees / second. The gyroscope is used to measure the angular velocity of the device and can detect the rotational motion of the device, such as rotation when subjected to torque. The gyroscope is used in conjunction with the second tilt sensor and the second acceleration sensor to achieve complete six-degree-of-freedom attitude measurement.

[0030] like Figure 1 As shown, the third sensing module includes a third acceleration sensor, which is located on the top of the device and electrically connected to the data processing module. The third acceleration sensor is used to detect the third instantaneous acceleration generated by the vibration of the top of the device and feed it back to the data processing module. By setting the third acceleration sensor on the top of the device, the vibration acceleration data of the top can be accurately obtained and compared with the acceleration data of the bottom and middle. This can effectively identify anomalies such as top swaying and lateral wind force, which are only visible at high levels, and further enrich the attitude determination basis.

[0031] The height of the third accelerometer from the bottom of the device is 0.85H~0.95H. The third accelerometer is fixed to the top of the device by a top sensor mounting bracket. The structure of the top sensor mounting bracket is similar to that of the middle mounting bracket, with dimensions of 80mm~120mm×80mm~120mm. Since the top space is usually tight, the design of the top sensor mounting bracket should be as compact as possible. The top sensor mounting bracket is fixed to the inner or outer wall of the top of the device by bolts.

[0032] The third accelerometer is a triaxial MEMS accelerometer with a measurement range of ±8g to ±16g and a sampling frequency of no less than 100Hz. The main function of the third accelerometer is to determine the swing amplitude of the top of the equipment by detecting the top acceleration. For slender vertical equipment, the swing amplitude of the top is usually much greater than that of the bottom and middle under the action of wind. The wind resistance stability of the equipment can be evaluated by detecting the top acceleration.

[0033] like Figure 1As shown, the third sensing module also includes a positioning unit, which is located on the top of the device and electrically connected to the data processing module. The positioning unit is used to detect the device's position offset and feed it back to the data processing module. When the position offset exceeds the fifth preset threshold and it is determined that the device as a whole has been subjected to an external impact or earthquake, the data processing module determines that the device has been displaced and triggers a corresponding abnormal state warning. When the position offset exceeds the fifth preset threshold and there is no determination that the device as a whole has been subjected to an external impact or earthquake, the data processing module determines that the device has been stolen and triggers a corresponding abnormal state warning. By adding a positioning unit on the top of the device, the device's position offset can be monitored in real time. Combined with the judgment results of multi-layer attitude perception, the displacement of the device caused by impact or earthquake and theft displacement can be accurately distinguished, realizing dual monitoring and accurate warning of device displacement and theft prevention.

[0034] The positioning unit employs a fusion positioning technology combining GPS, BeiDou, and GLONASS multi-satellite navigation systems, achieving a positioning accuracy of 3m to 5m. The positioning unit is fixed to a top sensor mount with its antenna facing upwards to avoid obstruction. Its function is to provide the absolute spatial position information of the equipment. When the equipment undergoes overall displacement, the positioning module can detect the positional change. Combining the positioning data with data from three acceleration sensors, it can distinguish whether the equipment tilts in place or after displacement.

[0035] The data processing module uses an embedded microcontroller or microprocessor with a main frequency of no less than 100MHz, a memory of no less than 512KB, and a storage space of no less than 4GB. It connects to each sensor through digital interfaces such as I2C, SPI, or UART. The data acquisition frequency is 10Hz~100Hz. The appropriate sampling rate is selected according to the application scenario and sensor type. After the acquired data is filtered, it is used for data comparison and analysis.

[0036] The data processing module can record historical data and perform trend analysis. For example, it can record the long-term trend of the first and second tilt angles. When the first and second tilt angles increase slowly (e.g., 0.05 degrees / hour), it can provide an early warning of slow foundation settlement. It can also record the spectral characteristics of acceleration and identify sources of periodic vibration (e.g., nearby construction machinery).

[0037] The first preset threshold is 0.3°~0.5°, preferably 0.4°. This threshold is used to determine local ground settlement by comparing the difference in inclination angle between the bottom and middle sections. The range of values ​​takes into account both the early identification of minor foundation settlement and the filtering of ordinary environmental errors. The preferred value of 0.4° can accurately capture the early characteristics of uneven foundation settlement, avoiding the omission of early hidden dangers due to an excessively high threshold, and preventing the misjudgment of normal installation deviations and temperature deformations as settlement due to an excessively low threshold, thus improving the accuracy and timeliness of local settlement early warning.

[0038] The second preset threshold is 1°~5°, preferably 3.5°. This threshold is used to determine the upper displacement or force on the equipment by comparing the instantaneous acceleration difference between the middle and bottom. The value range is adapted to the upper force response characteristics of vertical equipment of different heights and stiffnesses. The preferred value of 3.5° can effectively distinguish between normal vibration of the equipment and abnormal acceleration differences caused by upper displacement or lateral force, ensuring that the upper structural deformation is not missed and avoiding false alarms such as conventional wind vibration and equipment start-up and shutdown vibration, thus ensuring the reliability of upper abnormality identification.

[0039] The third preset threshold is 1.5 to 2.0 times, preferably 1.75 times. This threshold is used to determine whether the equipment is swaying due to lateral wind or overhead objects, achieved by comparing the instantaneous acceleration ratio between the top and middle sections. The value range aligns with the mechanical characteristics of the "top vibration amplification effect" of slender vertical equipment. The preferred value of 1.75 times can accurately identify wind effects and abnormal top swaying that are only apparent at the top, creating a differentiated judgment from data from the bottom and middle sections. This effectively captures early signs of top instability while suppressing local vibration interference and reducing false alarms.

[0040] The fourth preset threshold is 40ms to 60ms, preferably 50ms. This threshold is used to determine whether the equipment as a whole has been subjected to an external impact or earthquake, and is achieved by verifying the time synchronization of the three layers of instantaneous acceleration abrupt change. The value range matches the propagation characteristics of instantaneous impacts such as impacts and earthquakes. The preferred value of 50ms can accurately distinguish between overall synchronous impacts and local asynchronous vibrations, ensuring that the risk of overall instability is not missed, while avoiding misjudging asynchronous signals such as local mechanical vibrations and electromagnetic interference as overall impacts, thus improving the accuracy of extreme condition identification.

[0041] The fifth preset threshold ranges from 0.5m to 1m, with a preferred value of 0.75m. This threshold is used to determine equipment displacement or theft, achieved by combining the offset of the positioning unit with the results of multi-layer attitude sensing. The value range is adapted to the installation accuracy and anti-theft requirements of outdoor vertical equipment. The preferred value of 0.75m can effectively distinguish between normal installation errors, minor settlement, and actual displacement. At the same time, by combining acceleration and tilt angle data, it can accurately distinguish between impact / earthquake displacement and stolen displacement, achieving dual accuracy in displacement monitoring and anti-theft early warning.

[0042] Among them, the amplitude of the instantaneous amplitude change of the first instantaneous acceleration, the second instantaneous acceleration and the third instantaneous acceleration is greater than 2g~3g, where g is the gravitational acceleration. It can effectively filter out small vibration interference caused by normal equipment operation and environmental disturbance, and accurately capture large acceleration changes caused by strong impacts such as impacts and earthquakes. It takes into account both the anti-interference of monitoring and the sensitivity of extreme working condition identification.

[0043] like Figure 1As shown, the present invention also includes an alarm output unit, which is electrically connected to the data processing module. The alarm output unit includes an audible and visual alarm and a wireless communication unit. When the data processing module determines that any abnormal state of the equipment occurs, it controls the audible and visual alarm to start and issue an early warning, and sends the abnormal state to the remote monitoring platform through the wireless communication unit. This enables on-site audible and visual warnings and remote abnormal information to be reported simultaneously when the equipment malfunctions, taking into account both on-site warnings and remote supervision, and ensuring that abnormal states can be detected and dealt with in a timely manner.

[0044] like Figure 1 As shown, the present invention also includes a power supply module, which is powered by one or more of the following: built-in battery power supply, external power supply, and solar power supply.

[0045] The built-in battery uses a lithium battery pack with a capacity of 5000mAh~20000mAh and a voltage of 3.7V or 7.4V. It is suitable for short-term deployment or temporary monitoring scenarios. The battery is installed in a waterproof battery compartment, which is equipped with a sealing ring and a waterproof cover, with a protection level of IP67.

[0046] The external power supply is connected to an external 220V AC or 12V / 24V DC power supply via a power cord. It is suitable for fixed installation equipment, such as street light poles and monitoring poles. The power interface is equipped with a waterproof connector.

[0047] The solar power supply uses a hybrid approach combining solar panels and lithium batteries. The solar panels, with a power output of 5W to 20W, are installed on the top of the device. They charge the batteries during the day and provide power at night. This is suitable for long-term outdoor deployments in scenarios without an external power source.

[0048] The housings of each sensor mount and data processing unit are all sealed, with silicone rubber sealing rings in key areas to ensure waterproof and dustproof performance. The protection level of the entire device is no less than IP65, allowing it to be used in outdoor environments for extended periods.

[0049] It is understood that this invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this invention. Furthermore, under the teachings of this invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of this invention. Therefore, this invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this invention are within the protection scope of this invention.

Claims

1. A multi-layer distributed attitude sensing device, characterized in that, include: The first sensing module is located at the bottom of the device and is used to detect the first tilt angle of the bottom of the device relative to the horizontal plane and the first instantaneous acceleration generated by the vibration of the bottom of the device. The second sensing module is located in the middle of the device and is used to detect the second tilt angle of the device as a whole relative to the horizontal plane and the second instantaneous acceleration generated by the vibration of the device as a whole. The third sensing module, located on the top of the device, is used to detect the third instantaneous acceleration generated by vibrations at the top of the device. The data processing module is used to receive and process the first tilt angle, the first instantaneous acceleration, the second tilt angle, the second instantaneous acceleration, and the third instantaneous acceleration. When the first tilt angle is greater than the second tilt angle and the difference between the two exceeds the first preset threshold, it is determined that there is local ground subsidence and a corresponding abnormal state warning is triggered. When the second instantaneous acceleration is greater than the first instantaneous acceleration and the difference between the two exceeds the second preset threshold, it is determined that the upper part of the equipment has shifted or been subjected to force and a corresponding abnormal state warning is triggered. When the third instantaneous acceleration is greater than the second instantaneous acceleration and the ratio between the two exceeds the third preset threshold, it is determined that the equipment is subjected to lateral wind force or swaying of the top suspended object and a corresponding abnormal state warning is triggered. When the first instantaneous acceleration, the second instantaneous acceleration, and the third instantaneous acceleration all show instantaneous amplitude abrupt changes, and the time difference between the abrupt changes of each instantaneous acceleration is less than the fourth preset threshold, it is determined that the equipment as a whole has been subjected to external impact or earthquake and a corresponding abnormal state warning is triggered.

2. The multi-layer distributed attitude sensing device according to claim 1, characterized in that, The first sensing module includes: a first tilt sensor, disposed at the bottom of the device, electrically connected to the data processing module, the first tilt sensor being used to detect a first tilt angle of the bottom of the device relative to the horizontal plane and feeding it back to the data processing module; and a first acceleration sensor, disposed at the bottom of the device, electrically connected to the data processing module, the first acceleration sensor being used to detect a first instantaneous acceleration generated by vibration of the bottom of the device and feeding it back to the data processing module.

3. The multi-layer distributed attitude sensing device according to claim 1, characterized in that, The second sensing module includes: a second tilt sensor, disposed in the middle of the device, electrically connected to the data processing module, the second tilt sensor being used to detect the second tilt angle of the entire device relative to the horizontal plane and feed it back to the data processing module; and a second acceleration sensor, disposed in the middle of the device, electrically connected to the data processing module, the second acceleration sensor being used to detect the second instantaneous acceleration generated by the vibration of the entire device and feed it back to the data processing module.

4. A multi-layer distributed attitude sensing device according to claim 3, characterized in that, The second sensing module further includes a gyroscope, which is located in the middle of the device. The gyroscope is electrically connected to the data processing module. The gyroscope is used to detect the angular velocity of the device and feed it back to the data processing module. When the angular velocity is greater than zero, the data processing module determines that the device as a whole is rotating under the action of torque and triggers a corresponding abnormal state warning.

5. A multi-layer distributed attitude sensing device according to claim 1, characterized in that, The third sensing module includes a third acceleration sensor, which is disposed on the top of the device. The third acceleration sensor is electrically connected to the data processing module. The third acceleration sensor is used to detect the third instantaneous acceleration generated by the vibration of the top of the device and feed it back to the data processing module.

6. A multi-layer distributed attitude sensing device according to claim 5, characterized in that, The third sensing module further includes a positioning unit, which is disposed on the top of the device. The positioning unit is electrically connected to the data processing module. The positioning unit is used to detect the position offset of the device and feed it back to the data processing module. When the position offset exceeds the fifth preset threshold and it is determined that the device as a whole has been subjected to an external impact or earthquake, the data processing module determines that the device has been displaced and triggers a corresponding abnormal state warning. When the position offset exceeds the fifth preset threshold and there is no determination that the device as a whole has been subjected to an external impact or earthquake, the data processing module determines that the device has been stolen and triggers a corresponding abnormal state warning.

7. A multi-layer distributed attitude sensing device according to claim 6, characterized in that, The first preset threshold is 0.3°~0.5°, the second preset threshold is 1°~5°, the third preset threshold is 1.5 times~2.0 times, the fourth preset threshold is 40ms~60ms, and the fifth preset threshold is 0.5m~1m.

8. A multi-layer distributed attitude sensing device according to claim 6, characterized in that, The positioning unit adopts GPS, BeiDou, and GLONASS multi-satellite navigation system fusion positioning technology.

9. A multi-layer distributed attitude sensing device according to claim 1, characterized in that, The amplitude of the instantaneous amplitude change of the first instantaneous acceleration, the second instantaneous acceleration, and the third instantaneous acceleration is greater than 2g~3g.

10. A multi-layer distributed attitude sensing device according to claim 1, characterized in that, It also includes an alarm output unit, which is electrically connected to the data processing module. The alarm output unit includes an audible and visual alarm and a wireless communication unit. When the data processing module determines that any abnormal state of the device occurs, it controls the audible and visual alarm to start and issue an early warning, and sends the abnormal state to the remote monitoring platform through the wireless communication unit.

Images