基于LoRa通信的高铁箱梁姿态监测系统设计  

Design of Attitude Monitoring System for High-Speed Railway Box Girders Based on LoRa Communication

作　　者：杨孟 马强 卓令军 郭富 刘洪彬 张林 YANG Meng;MA Qiang;ZHUO Lingjun;GUO Fu;LIU Hongbin;ZHANG Lin(School of Engineering Machinery,Shandong Jiaotong University,Jinan,Shandong 250357,China;Shandong Tianyi Machinery Co.,Ltd.,Jining,Shandong 272100,China)

机构地区：[1]山东交通学院工程机械学院,山东济南250357 [2]山东天意机械股份有限公司,山东济宁272100

出　　处：《自动化应用》2025年第5期217-221,共5页Automation Application

基　　金：山东省重点研发计划(重大科技创新工程)“绿色建材智能制造成套装备与装配施工机器人开发”(2023CXGC010206)。

摘　　要：针对运架一体机在提梁作业时箱梁姿态难以监测的问题,设计了一种基于无线通信的姿态监测系统。系统采用STM32F407VET6微处理器、MPU9250姿态传感器、LoRa无线模块等硬件,监测高铁箱梁的姿态变化。同时,设计了集成化系统电路,使用锂电池独立供电,并将其安装于防水外壳中。利用卡尔曼滤波对MPU9250采集的数据进行融合以求解姿态角,并通过平板电脑来接收LoRa传来的姿态信息并显示,实现高铁箱梁姿态实时监测。最后,通过静态振动实验对硬件和软件的可靠性与准确性进行验证。结果表明,该系统能够在无网络信号、远距离传输环境下持续、准确、稳定地对高铁箱梁姿态进行实时监控,弥补了目前监测系统的不足。Aiming at the problem that it is difficult to monitor the box girder attitude of the girder erection and transportation integrated machine during the girder lifting operation,an attitude monitoring system based on wireless communication is designed.The system adopts hardware such as the STM32F407VET6 microprocessor,MPU9250 attitude sensor and LoRa wireless module to monitor the attitude changes of high-speed railway box girders.At the same time,an integrated system circuit is designed,and it is independently powered by lithium batteries and installed in a waterproof housing.Kalman filtering is used to fuse and solve the attitude angles of the data collected by the MPU9250,and a tablet computer is used to receive and display the attitude information sent by LoRa to realize the real-time monitoring of the attitude of high-speed railway box girders.Finally,the reliability and accuracy of the hardware and software are verified through static vibration experiments.The results show that the system can continuously,accurately and stably monitor the attitude of high-speed railway box girders in real time in an environment without network signals and long-distance transmission,making up for the deficiencies of the current monitoring system.

关 键 词：运架一体机 箱梁 LoRa 姿态监测 

分 类 号：TP277[自动化与计算机技术—检测技术与自动化装置] TU990.3[自动化与计算机技术—控制科学与工程]