CN-122015786-A - Automatic slope monitoring method and system

CN122015786ACN 122015786 ACN122015786 ACN 122015786ACN-122015786-A

Abstract

The invention discloses a slope automation monitoring method and system, the method comprises the steps of reforming a stable observation pier existing on the opposite sides of a slope to serve as a double measuring station, installing a high-precision measuring robot with a self-adaptive cooperative module, integrating an inclination angle sensor and a wireless signal feedback unit on a grid-shaped measuring point prism, transmitting attitude and signal strength information, after the orientation and parameter configuration of the measuring station are completed, the measuring robot and a measuring point are cooperated bidirectionally, dynamically adjusting observation parameters, calculating displacement data through an intersection method, and transmitting the displacement data to a monitoring center for verification and correction through an optical fiber. The invention effectively solves the problems of low monitoring efficiency, large error, insufficient coverage, insufficient precision, poor adaptability, insufficient stability and high operation and maintenance cost of the traditional monitoring device.

Inventors

HE YAWEN
TANG HONGHUA
Zhao Xunyong
LIU JIAN
ZHANG YI
ZHANG LINZHUO
JIAO HUAWEI
LUO ZHONGQI
LIU MINGXI
XIAO QIZHI
ZHANG JINMING
YANG SONGLIN
Sang Xingxu
XIAO WEI
LIU FEI

Assignees

五凌电力有限公司五强溪水电厂
湖南五凌电力科技有限公司

Dates

Publication Date: 20260512
Application Date: 20260209

Claims (10)

1. The automatic slope monitoring method is characterized by comprising the following steps of: the method comprises the steps of 1, station reconstruction, namely selecting a slope-to-shore existing stable observation pier as a double station foundation, reinforcing and reconstructing the observation pier and removing surrounding shielding objects; Step 2, equipment is installed, a high-precision measuring robot and a self-adaptive cooperative module are respectively installed on a double measuring station, the measuring robot is fixed through a forced centering device, an inclination sensor and a wireless signal feedback unit are integrated on a grid measuring point prism, the inclination sensor collects real-time attitude data of the prism, and the wireless signal feedback unit transmits the attitude data and measuring signal intensity information to the measuring robot; step 3, station orientation and parameter configuration, namely, finishing station orientation by taking a stable plane monitoring net point as a rear view point, and setting basic observation parameters and self-adaptive adjustment thresholds; step 4, automatic intersection measurement, wherein the measuring robot is in bidirectional coordination with the measuring point, measurement is performed according to basic parameters when the threshold value is not exceeded according to the received gesture data and signal intensity information, and after the observation parameters are dynamically adjusted when the threshold value is exceeded, the horizontal and vertical displacement data of the measuring point are calculated through an intersection method; and 5, data transmission and verification, wherein the observation data are transmitted to a monitoring center through optical fiber wired communication, and the measurement result is corrected by combining the attitude data to complete verification.
2. The automatic monitoring method of the side slope according to claim 1, wherein the deployment of the double measuring stations in the step 1 is that the altitude is higher than the highest point of the monitored side slope, the visible non-shielding angle of all target measuring points is more than or equal to 15 degrees, and the vibration source and the strong electromagnetic interference area are far away.
3. The automatic slope monitoring method according to claim 1, wherein in the step 2, the center deviation of the forced centering device is less than or equal to +/-1 mm, the levelness of the measuring robot after installation is less than or equal to +/-0.1 mm/m, the horizontal bubble deviation is less than or equal to 1 grid, the measuring accuracy of the inclination sensor is less than or equal to +/-0.05 degrees, the transmission delay of the wireless signal feedback unit is less than or equal to 100ms, the waterproof grade is more than or equal to IP67, and the self-adaptive coordination module is used for receiving attitude data and signal intensity information, dynamically adjusting observation parameters and controlling the measuring robot to execute intersection measurement.
4. The automated slope monitoring method of claim 1, wherein the base observation parameters in step 3 comprise a base observation period of 1 time per day and a base number of returns of 4 returns, and the adaptive adjustment threshold comprises a prism tilt angle deviation threshold of greater than or equal to 0.3 ° and a signal intensity threshold of less than or equal to-60 dBm.
5. The automatic slope monitoring method according to claim 1, wherein the observation parameter adjustment logic in the step 4 is that when the inclination angle deviation of the prism is between 0.3 and 0.5 degrees, the number of the observation loops is increased by 2 observation loops, when the inclination angle deviation of the prism is more than 0.5 degrees, the number of the observation loops is increased by 4 observation loops and the intersection observation angle is adjusted to be more than or equal to 30 degrees, when the signal intensity is less than or equal to-60 dBm and more than or equal to-70 dBm, the signal gain is improved by 10dB, and when the signal intensity is less than or equal to-70 dBm, the signal gain is improved by 15dB and the single observation time length is prolonged by 50%.
6. The automatic slope monitoring method according to claim 1, wherein the data verification standard in the step 5 is that the horizontal displacement deviation is less than or equal to +/-1.0 mm, the vertical displacement deviation is less than or equal to +/-1.5 mm, and the data loss rate is less than or equal to 0.1%.
7. A slope automation monitoring system, comprising: The double-measuring robot unit consists of 2 high-precision measuring robots, and each measuring robot is integrated with a self-adaptive cooperative module which is used for receiving gesture data and signal intensity information fed back by a measuring point, dynamically adjusting the number of measured back, the observation angle and the signal gain and controlling the measuring robot to execute automatic intersection measurement; The double-station deployment unit comprises a first station and a second station, wherein the first station is formed by reforming a first existing stable observation pier based on side slope opposite sides, and the second station is formed by reforming a second existing stable observation pier based on side slope opposite sides and is used for installing and fixing the measuring robot; The system comprises a grid-shaped measuring point arrangement unit, a self-adaptive coordination module and a self-adaptive coordination module, wherein a plurality of surface displacement measuring points are distributed along a plurality of horse roads of a side slope, the measuring points are horizontal displacement and vertical displacement sharing marks, a prism of each measuring point is integrated with an inclination sensor and a wireless signal feedback unit, the inclination sensor is used for acquiring prism posture data, and the wireless signal feedback unit is used for transmitting data to the self-adaptive coordination module; The data transmission unit is used for realizing data communication between the measuring robot and the monitoring center and between the measuring point and the measuring robot; The data processing unit is used for receiving the observation data and the prism attitude data and carrying out intersection method calculation, attitude deviation correction, integrity verification and precision analysis.
8. The automatic slope monitoring system according to claim 7, wherein the high-precision measuring robot has an angle measuring precision of less than or equal to 0.5'', a distance measuring precision of less than or equal to 1mm+1ppm×D, and D is a measuring distance, and the response time of the self-adaptive coordination module is less than or equal to 1s.
9. The automatic slope monitoring system according to claim 7, wherein in the data transmission unit, the measuring robot and the monitoring center are in optical fiber wired communication, the communication speed is more than or equal to 100Mbps, the measuring point and the measuring robot are in LoRa wireless communication, the transmission distance is more than or equal to 500m, 220V factory electricity is used for power supply of the measuring robot, and the isolation voltage stabilizing module and the surge protection device are configured.
10. The automatic slope monitoring system according to claim 7, wherein in the grid-shaped measuring point arrangement unit, surface displacement measuring points uniformly cover the whole monitoring slope in a grid shape, the measurement range of a prism-integrated inclination sensor of each measuring point is +/-5 degrees, the power consumption of a wireless signal feedback unit is less than or equal to 3mW, the measuring points realize gesture data acquisition and signal intensity feedback through a prism-integrated component, and the self-adaptive cooperative module is matched to complete dynamic adjustment of observation parameters.

Description

Automatic slope monitoring method and system Technical Field The invention relates to the technical field of slope monitoring, in particular to a slope automatic monitoring method and system. Background The stability of the high slope structure of the large-scale hydroelectric junction project serving as a core infrastructure for energy supply and water resource regulation is directly related to the whole safe operation of the project and the life and property safety of surrounding areas. Especially, the hydropower station with wide river basin area, large side slope height difference and complex geological conditions is characterized in that the high side slope is easy to generate tiny deformation under the actions of long-term water flow erosion, geological structure activity and engineering operation load, if the high side slope is not monitored in time, major safety accidents such as landslide and collapse can be possibly caused, so that the monitoring of the appearance deformation of the high side slope is a key link for the safety control of the hydropower engineering. At present, two types of monitoring modes mainly exist in the field of hydropower station high slope deformation monitoring. The method is characterized in that a traditional manual monitoring mode is adopted, and by arranging a horizontal displacement and a vertical displacement in areas such as a side slope and the like to share a mapping point, an optical instrument is adopted to conduct manual periodic observation, and the method requires workers to arrive at a site for operation, so that the labor intensity is high, the monitoring efficiency is low, the monitoring period is long, real-time dynamic monitoring is generally difficult to realize, short-term burst deformation of a side slope cannot be captured in time, meanwhile, the manual observation process is easily influenced by operation proficiency and environmental factors, human errors are inevitably introduced, and the reliability and consistency of monitoring data are difficult to guarantee. Taking the left bank high slope monitoring of a large hydropower station as an example, dozens or even hundreds of grid-shaped measuring points are often distributed along a plurality of streets, a great deal of time and labor cost are consumed for manual observation one by one, and a certain safety risk exists for manual inspection under the conditions of high altitude and steep terrain. The other type is a gradually developed automatic monitoring technology, and mainly adopts a single measuring device or a single measuring station arrangement mode to carry out monitoring. However, the technical scheme still has a plurality of limitations that firstly, the monitoring coverage of single measuring equipment or a single measuring station is limited, monitoring blind areas are easy to appear for measuring points which are distributed on a plurality of streets and have wide coverage, dead angle coverage of a full side slope is difficult to realize, secondly, the topography of the high side slope is complex, the influence of topography shielding on the viewing condition is large, effective viewing of all measuring points is often difficult to ensure due to arrangement of the single measuring station, the monitoring precision of part of measuring points is reduced, even observation cannot be completed, thirdly, the precision index of the existing automatic monitoring equipment and the hydroelectric engineering standard requirement still have gaps, and particularly, in the synchronous monitoring of horizontal displacement and vertical displacement, the data error is difficult to meet the high-precision safety early warning requirement, fourthly, aiming at the artificial monitoring points which are arranged on the existing hydroelectric station, the existing automatic transformation scheme lacks standardized design, the compatibility of new equipment and original observation facilities is poor, large-scale new construction facilities are often required, the transformation difficulty is large, the construction period is long, and engineering cost is increased, and the upgrading and transformation requirements of the existing engineering are difficult to adapt to the existing engineering are difficult. In addition, the existing automatic monitoring system has the problem of insufficient stability and adaptability in the running process. The system adopts a single communication mode, is easily affected by signal interference or line faults in a complex mountain area environment to cause data transmission interruption, the power supply system lacks redundant design and cannot cope with power supply fluctuation in extreme weather, meanwhile, monitoring equipment is exposed in an outdoor environment for a long time and is easily affected by factors such as rainwater, dust, temperature change and the like, equipment faults or precision drift are easily caused, and the existing scheme lacks an effective