Total station robot monitoring control system

Abstract

The utility model relates to the technical field of monitoring equipment, and provides a total station robot monitoring control system which comprises a control system and a total station robot. The control system is connected and communicated with the total station robot through a first communication chip arranged in the control system, an adjustable power supply module is further arranged in the control system, and the control system supplies power to the total station robot through the adjustable power supply module. Adjustment of power supply voltage of the total station robots of different models is supported through the adjustable power supply module, and compared with the prior art, the applicability of the system is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to monitoring equipment technical field especially relates to a total station robot monitoring control system. BACKGROUND

[0002] In the process of large infrastructure construction, such as subway and bridge construction, construction activities will cause displacement and settlement of the surrounding soil, which requires high-precision monitoring and measurement of existing business lines within the construction influence range and timely feedback of monitoring information to ensure the normal and safe operation of existing business lines. At the same time, in the stability monitoring of structures such as dams, bridges, slopes, foundation pits, tunnels, tunnel and bridge connections, and piers, accurate monitoring data is also needed to protect the lives of relevant personnel. Total station robots have been widely used in these monitoring scenarios due to their high-precision measurement advantages.

[0003] At present, the total station robot monitoring and collection controller on the market has many shortcomings. First, the function is single, most monitoring and collection controllers can only communicate and control the total station robot through the serial port, cannot power different manufacturers and different models of total station robots, and cannot output adaptive voltage, which greatly limits its versatility. Second, the scene adaptability is poor. In many monitoring scenarios, the total station robot needs to be equipped with a protective cover to achieve waterproof and other functions, but the existing monitoring and collection controller cannot integrate the control system of the protective cover, and users have to additionally match a set of protective cover control system, increasing the construction cost and complexity. Third, the monitoring dimension is limited. Some monitoring fields require comprehensive monitoring using multiple sensors such as GNSS displacement, inclination, water level, osmotic pressure, and vision sensors, but the existing controller does not have the ability to monitor multiple sensors and multiple dimensions. Fourth, the power consumption and cost are high. The total station robot monitoring and collection controller generally uses a hardware architecture of CPU processor + 4G network. This architecture has high power consumption and cannot be connected to the power supply in scenarios such as dams, bridges, slopes, and foundation pits, and can only rely on solar power + battery power supply, which puts a lot of pressure on the power supply system and increases project costs. SUMMARY

[0004] The utility model discloses a total station robot monitoring control system to overcome the defect that the existing technology cannot output adaptive voltage for different kinds of total station robots.

[0005] To solve the above technical problems, the technical scheme of the utility model is as follows:

[0006] A total station robot monitoring control system for monitoring and collecting at least one total station robot, the control system comprising a first communication chip and an adjustable power supply module; the control system is connected in communication between the first communication chip and the total station robot, and the control system outputs an adaptive voltage through the adjustable power supply module to power the total station robot.

[0007] As a preferred solution, the total station robot is also provided with a protective cover, and the control system is also provided with a second communication chip; the control system outputs a control signal of the protective cover to the total station robot through the second communication chip.

[0008] As a preferred solution, the control system is also built-in with an air pressure sensor and / or a temperature sensor.

[0009] As a preferred solution, the control system is provided with a third communication chip, and the control system is wirelessly connected with an external sensor mounted on an external GNSS through the third communication chip.

[0010] As a preferred solution, the external sensor includes one or more of a displacement sensor, an inclination sensor, a water level sensor, an osmotic pressure sensor or a visual sensor.

[0011] As a preferred solution, the third communication chip is mounted with a star flash networking module or an ultra-wideband communication module.

[0012] As a preferred solution, the control system is also provided with an Ethernet transceiver and an Ethernet port, and the Ethernet transceiver is connected with the Ethernet port.

[0013] As a preferred solution, the control system is also provided with a hardware watchdog, and the hardware watchdog is connected with a reset interface of the control system.

[0014] As a preferred solution, the control system is also provided with a storage module connected with the first communication chip.

[0015] As a preferred solution, the control system is of SOC architecture.

[0016] Compared with the prior art, the beneficial effects of the technical scheme of the utility model are:

[0017] The adjustable power supply module can flexibly control output voltage, current limiting, switching frequency and other parameters, and can support power supply of different models of total station robots. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the architecture diagram of the total station robot monitoring control system of embodiment 1.

[0019] Figure 2It is an architecture diagram of the total station robot monitoring control system of the embodiment 2.

[0020] Figure 3 It is a connection circuit diagram of the ESIM card.

[0021] Figure 4 It is a connection circuit diagram of the TF card.

[0022] Figure 5 It is a principle diagram of the star flash networking module.

[0023] Figure 6 It is a principle diagram of TTL to RS485.

[0024] Figure 7 It is a principle diagram of TTL to RS232.

[0025] Figure 8 It is a circuit diagram of the adjustable DC chip.

[0026] Figure 9 It is a connection circuit diagram of the air pressure sensor.

[0027] Figure 10 It is a connection circuit diagram of the PHY physical layer transceiver.

[0028] Figure 11 It is a principle diagram of the hardware watchdog. DETAILED DESCRIPTION

[0029] The drawings are only for illustrative purposes and cannot be understood as limiting the patent;

[0030] In order to better illustrate the embodiment, some components in the drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product;

[0031] It is understandable for those skilled in the art that some known structures and their descriptions in the drawings may be omitted.

[0032] The technical scheme of the utility model will be further described below in combination with the drawings and embodiments.

[0033] Embodiment 1

[0034] The embodiment provides a total station robot monitoring control system, as shown in the figure, which is an architecture diagram of the total station robot monitoring control system of the embodiment. Figure 1

[0035] A total station robot monitoring control system for monitoring and collecting at least one total station robot, the control system comprising a first communication chip and an adjustable power supply module; the control system is connected in communication between the first communication chip and the total station robot, and the control system outputs an adaptive voltage through the adjustable power supply module to power the total station robot.​

[0036] In this embodiment, the communication between the control system and the total station robot is realized through the first communication chip; through the adjustable power supply module, parameters such as output voltage, current limiting, and switching frequency can be flexibly controlled, which can support the adjustment of the power supply voltage for different models of total station robots.

[0037] As an example, the control system is a 3G / 4G network module that supports secondary development; the first communication chip SP3223EEA is a full-duplex RS-232 serial port transceiver that converts TTL digital signals into RS232 differential signals; the adjustable power supply module includes a DC chip, model SC8706.

[0038] In this example, the SC8706 is a synchronous buck-boost controller with an I2C interface. The control system can be flexibly programmed to control parameters such as output voltage, current limiting, and switching frequency. The input voltage range is 3.5V to 24V, the output voltage range is 3V to 24V, the voltage regulation resolution is 8mV, and it features high power conversion efficiency and large output current.

[0039] In an optional embodiment, the total station robot is further provided with a protective cover, and the control system is further provided with a second communication chip; the control system outputs control signals for the protective cover to the total station robot through the second communication chip.

[0040] As an example, the second communication chip is HGX3485, which converts TTL signals into RS485 signals.

[0041] In this embodiment, a protective cover and its control system are integrated into the total station robot. By providing a second communication chip, the conversion between TTL signals and RS485 signals is realized, enabling the control system to control the protective cover through the communication chip. This effectively simplifies the complexity of the original system and avoids the need to set up a separate protective cover control system outside the total station robot.

[0042] In an alternative embodiment, the control system also incorporates a pressure sensor and / or a temperature sensor.

[0043] As an example, the barometric pressure sensor is model HP303S, which is connected to the control system via an I2C interface.

[0044] This embodiment enhances the total station robot's monitoring capabilities in complex environments by integrating sensors into the control system, enabling multi-dimensional network monitoring. The first sensor can monitor key environmental parameters, such as air pressure or temperature, in real time, providing accurate environmental data to the control system. This helps the total station robot adjust its operating strategies under different working conditions, ensuring measurement accuracy and equipment stability.

[0045] In an optional embodiment, the control system is provided with a third communication chip, and the control system is wirelessly connected with an external sensor mounted on an external GNSS through the third communication chip.

[0046] In this embodiment, the control system realizes wireless communication through the third communication chip, which significantly improves the flexibility and transmission efficiency of the system.

[0047] Further optionally, the external sensor includes one or more of a displacement sensor, an inclination sensor, a water level sensor, an osmotic pressure sensor, or a visual sensor.

[0048] In this embodiment, by remotely integrating these sensors, the system can monitor and obtain key environmental parameters such as displacement, inclination angle, water level change, osmotic pressure, and visual information in real time, thereby providing accurate feedback for the control system and supporting more intelligent decision-making and operation.

[0049] Further optionally, the third communication chip is mounted with a star flash networking module or an ultra-wideband communication module.

[0050] In this embodiment, the star flash networking module supports interconnection of up to 4096 devices, can meet the demand of large-scale device networking, and supports various flexible networking modes (such as point-to-point, star, mesh, etc.), further enhancing the adaptability of the system.

[0051] In an optional embodiment, the control system is further provided with an Ethernet transceiver and an Ethernet port, and the Ethernet transceiver is connected with the Ethernet port.

[0052] As an exemplary illustration, the Ethernet transceiver is YT8521, and the Ethernet transceiver is connected with the control system through an SGMII interface.

[0053] In this embodiment, by integrating the Ethernet port in the control system and connecting the Ethernet port through the internal network interface, high-speed and stable data transmission is realized, the network compatibility of the system is enhanced, seamless connection with existing network infrastructure is supported, and network setting is simplified. In addition, Ethernet communication has high stability and anti-interference ability, and is suitable for application environments requiring high stability.

[0054] In an optional embodiment, the control system is further provided with a hardware watchdog, and the hardware watchdog is connected with a reset interface of the control system.

[0055] As an exemplary illustration, the chip model of the hardware watchdog is TPL5010, and when the control system does not output a square wave signal to the TPL5010 chip within a timeout period, it is considered that the control system is abnormal, and the watchdog chip will pull down the reset pin of the control system for hard reset.

[0056] In this embodiment, the hardware watchdog is set to monitor the control system, effectively ensuring the stability and reliability of the control system, avoiding equipment failure or data interruption caused by abnormal control system, thereby greatly improving the stability and security of the total station monitoring and acquisition control system.

[0057] In an optional embodiment, the control system is further provided with a storage module connected with the first communication chip.

[0058] As an exemplary illustration, the storage module is a TF card connected with the control system through an SDIO interface, used for storing the sensor information received by the first communication chip.

[0059] Further optionally, the storage module can also save the internal sensor data of the control system or the sensor information received by the third communication chip.

[0060] In this embodiment, the storage module can store the sensor data locally, avoiding data loss caused by communication interruption or network failure, ensuring the integrity and reliability of the data.

[0061] In an optional embodiment, the control system is further provided with an Ethernet port connected with the control system through an Ethernet transceiver.

[0062] As an exemplary illustration, the chip model of the Ethernet transceiver is YT8521, which is connected with the control system through an SGMII interface.

[0063] In this embodiment, the control system is provided with an Ethernet port connected with the control system through an Ethernet transceiver, improving the communication capability and flexibility of the system, optimizing the performance of data transmission, and reducing network delay. In addition, the integration of the Ethernet port provides the system with more extensive connection options, enabling the control system to be compatible with a variety of external devices, thereby enhancing the expansibility and adaptability of the system, meeting the needs of different application scenarios, and further improving the overall stability and flexibility of the system.

[0064] In an optional embodiment, the control system is of SOC architecture.

[0065] As an exemplary illustration, the control system includes a 3G / 4G network module supporting secondary development.

[0066] In this embodiment, based on the SOC architecture, multiple functional modules can be integrated on a single chip.

[0067] Embodiment 2

[0068] This embodiment makes a specific implementation based on the total station robot monitoring control system proposed in embodiment 1, such asFigure 2 As shown in the figure, it is the architecture diagram of the total station robot monitoring control system of the embodiment.

[0069] As shown in the figure, the control system is a 3G / 4G network module supporting secondary development, which is the core processing unit of the monitoring and collecting controller, and is internally provided with a processor, DDR running memory and EMMC memory, and is provided with an SDIO interface, a USB interface, a serial port and an I2C interface. Figure 2

[0070] The control system is linked with the ESIM card through the SIM_VCC, SIM_IO, SIM_RST and SIM_CLK interfaces to provide the network access function for the controller and ensure that the data can be stably transmitted to the server platform.

[0071] As an example, the control system is connected with the server data monitoring platform through the ESIM card.

[0072] As shown in the figure, it is the ESIM card connection circuit diagram. Figure 3

[0073] The control system is connected with the TF card through the SDIO interface for storing the monitoring data. As shown in the figure, it is the TF card connection circuit diagram. Figure 4

[0074] The control system is connected with the star flash networking module through the SDIO interface. The star flash networking module has the functions of high-speed transmission, low power consumption, ultra-low delay and strong anti-interference capability, and can support the interconnection of up to 4096 devices, and supports multiple networking modes such as point-to-point, star and mesh network. As shown in the figure, it is the star flash networking module principle diagram. Figure 5

[0075] The TTL to RS485 chip is used to realize the RS485 communication between the control system and the total station robot protective cover, so as to ensure that the protective cover can be effectively controlled and data exchanged. As shown in the figure, it is the TTL to RS485 principle diagram. Figure 6

[0076] The TTL to RS232 chip model is SP3223EEA, which is a full-duplex RS-232 serial transceiver and a necessary chip for the communication between the SOC and the total station robot. As shown in the figure, it is the TTL to RS232 principle diagram. Figure 7

[0077] ​​​​​​The adjustable power module is an adjustable DC chip with an I2C interface, and the control system can program control the output voltage, current limit, and switching frequency thereof. The input voltage range is 3.5V to 24V, the output voltage range is 3V to 24V, the voltage regulation resolution is 8mV, it has the characteristics of high power conversion efficiency and large output current, and can provide adaptive power supply voltage for different models of total station robot, thereby improving the versatility of the controller. Figure 8 As shown in the adjustable DC chip circuit diagram.

[0078] The air pressure sensor is connected with the control system through an I2C interface, and is used for measuring pressure and temperature. The measured pressure and temperature data can be used as a reference for environmental parameters in the monitoring process, which helps to improve the accuracy and reliability of the monitoring data. Figure 9 As shown in the air pressure sensor connection circuit diagram.

[0079] The PHY physical layer transceiver is an Ethernet transceiver connected with the control system through an SGMII interface. The PHY physical layer transceiver has cross detection, automatic correction, polarity correction, adaptive equalization, crosstalk cancellation, echo cancellation, timing recovery, and error correction functions. Figure 10 As shown in the PHY physical layer transceiver connection circuit diagram.

[0080] The hardware watchdog lowers the reset pin of the control system for hard reset when the control system does not output a square wave signal to it in a timeout state. The hardware watchdog plays an important role in the entire system. When the control system does not output a square wave signal to it in a timeout state, the hardware watchdog determines that the SOC system is abnormal, and lowers the reset pin of the control system for hard reset, thereby ensuring that the controller can work stably for a long time and improving the reliability of the system. Figure 11 As shown in the hardware watchdog schematic diagram.

[0081] The power circuit is used to power the control system, star flash networking module, TF card, total station robot protective cover and other modules.

[0082] In actual application, the ESIM card is inserted into the corresponding card slot to reliably connect with the SIM interface of the control system, the TF card is inserted into the slot corresponding to the SDIO interface to ensure normal data storage function, the antenna of the star flash networking module is connected to ensure good wireless communication performance, the TTL to RS485 chip and the TTL to RS232 chip are connected through the corresponding lines to establish communication links with the total station robot protective cover and the total station robot respectively, the total station power adjustable DC chip is connected with the total station robot to ensure stable power supply, and the power circuit is used to power the entire system.

[0083] Through the RS232 serial port, the control system sends a start-up instruction to the total station robot, and the total station robot starts monitoring work. During the monitoring process, the total station robot collects data according to the preset parameters, and transmits the collected data to the control system through the RS232 serial port. After the control system receives the data, it performs preliminary processing and stores it in the TF card, and sends the data to the server data monitoring platform through the network, realizing real-time data transmission and remote monitoring.

[0084] When the total station robot protective cover needs to be controlled, the control system sends control instructions to the protective cover through the TTL-to-RS485 chip. For example, when encountering bad weather, the protective cover is lowered to protect the total station robot, and when the weather is good and monitoring work is needed, the protective cover is raised to ensure normal operation of the total station robot. At the same time, the power supply circuit provides stable power support for the protective cover to ensure its normal operation.

[0085] The star flash networking module starts working, searches and connects external GNSS displacement, inclination, water level, osmotic pressure, vision and other terminal node devices. After successful connection, each sensor transmits the real-time collected data to the control system through the star flash networking module. The control system fuses and processes these multi-sensor data, combines with the data collected by the total station robot, forms more comprehensive and accurate monitoring information, and stores it in the TF card and sends it to the server data monitoring platform.

[0086] The air pressure sensor monitors the pressure and temperature data of the environment in real time, and transmits the data to the control system through the I2C interface. These environmental parameter data can be used as supplementary monitoring data to provide more references for subsequent data analysis. The PHY physical layer transceiver continuously ensures the stability of network communication during the entire monitoring process. Through its cross-detection and automatic correction functions, it ensures accurate and stable data transmission under different network environments and data transmission rates.

[0087] The hardware watchdog continuously monitors the working state of the control system during system operation. When the SOC platform abnormally due to some reason, resulting in timeout without outputting square wave signal to the hardware watchdog, the hardware watchdog immediately pulls down the reset pin of the SOC platform, and performs hard reset operation on the SOC platform. After reset, the SOC platform restarts and initializes, making the entire system return to normal working state, ensuring that the controller can run stably for a long time.

[0088] The TTL-to-RS485 chip is of a model of HGX3485, the TTL-to-RS232 chip is of a model of SP3223EEA, the total station power supply adjustable DC chip is of a model of SC8706, the air pressure sensor is of a model of HP303S, the PHY physical layer transceiver chip is of a model of YT8521, and the hardware watchdog chip is of a model of TPL5010.

[0089] The same or similar reference signs correspond to the same or similar components;

[0090] The terms describing the positional relationship in the drawings are only used for example illustration, and should not be understood as a limitation to the patent;

[0091] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not a limitation to the embodiments of the utility model. For ordinary skilled in the art, on the basis of the above description, other different forms of changes or variations can be made. Here, it is not necessary and also impossible to exhaust all the embodiments. Any modification, equivalent replacement and improvement, etc. made within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. A total station robot monitoring and control system, used to monitor at least one total station robot, characterized in that, The control system includes a first communication chip and an adjustable power module; the control system communicates with the total station robot through the first communication chip, and the control system outputs an adaptive voltage to power the total station robot through the adjustable power module.

2. The total station robot monitoring and control system according to claim 1, characterized in that, The total station robot is also equipped with a protective cover, and the control system is also equipped with a second communication chip; the control system outputs the control signal of the protective cover to the total station robot through the second communication chip.

3. The total station robot monitoring and control system according to claim 1, characterized in that, The control system also has a built-in pressure sensor and / or temperature sensor.

4. The total station robot monitoring and control system according to claim 1, characterized in that, The control system is equipped with a third communication chip, which enables the control system to wirelessly connect with external sensors mounted on an external GNSS device.

5. The total station robot monitoring and control system according to claim 4, characterized in that, The external sensors include one or more of the following: displacement sensors, tilt sensors, water level sensors, pressure sensors, or vision sensors.

6. The total station robot monitoring and control system according to claim 5, characterized in that, The third communication chip is equipped with a StarFlash networking module or an ultra-wideband communication module.

7. A total station robot monitoring and control system according to any one of claims 1 to 6, characterized in that, The control system is also equipped with an Ethernet transceiver and an Ethernet port, and the Ethernet transceiver is connected to the Ethernet port.

8. A total station robot monitoring and control system according to any one of claims 1 to 6, characterized in that, The control system also includes a hardware watchdog, which is connected to the reset interface of the control system.

9. A total station robot monitoring and control system according to any one of claims 1 to 6, characterized in that, The control system also includes a storage module connected to the first communication chip.

10. A total station robot monitoring and control system according to any one of claims 1 to 6, characterized in that, The control system is based on a SOC architecture.

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