CN103175475A - Railway slope protection monitoring system - Google Patents
Railway slope protection monitoring system Download PDFInfo
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- CN103175475A CN103175475A CN2011104376072A CN201110437607A CN103175475A CN 103175475 A CN103175475 A CN 103175475A CN 2011104376072 A CN2011104376072 A CN 2011104376072A CN 201110437607 A CN201110437607 A CN 201110437607A CN 103175475 A CN103175475 A CN 103175475A
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Abstract
The invention relates to a railway slope protection monitoring system. The railway slope protection monitoring system comprises a slope protection information acquisition system, a slope protection information analysis system and an alarm system. Alarm signals and/or intelligence information are/is emitted in one or more modes under the condition that the slope protection information analysis system determines that slope protection structural cracks occur and/or reach the hazard level.
Description
Technical field
The present invention relates to railway operation safety monitoring field, relate to particularly monitoring railway track safety aspect.More specifically, the present invention relates to monitor the situation of the bank protection of at least one side of railroad track.
Background technology
At present, the railway system is in the period of rapid construction and development, and along with the High-speed Railway Network scale enlarges rapidly, technical equipment is fast lifting also, and speed promotes and transport power strengthens.Simultaneously, also must be appreciated that, safety of railway traffic also faces more challenges and tests.The railway surrounding enviroment are more complicated, and the natural climate environmental change is frequent, and hazard weather increases, and safety of railway traffic especially high ferro security of operation is brought impact.
For overall protected consideration, the technician develops various new technologies, survey device, High-speed Photography Technology, GPS infra-red detection technology, microwave wireless detection etc. such as vehicle-mounted geochemical exploration, be widely used in location and monitoring, for railway security allows to provide effective protection and monitoring means.But various independent technology have its limitation, can be subjected to environment respectively, humanity, and the restriction of the factors such as equipment does not have a kind of method can solve particularly high ferro security protection problem along the line of railway fully, but needs the complementation by various means.
In practice, railroad track usually needs to pass massif or mountain valley, faces upward the slope thereby a side or both sides exist, namely the structure of ditch formula.In addition, also exist railway bed to exceed ground on every side, thus in its both sides or a side have the situation on the slope of bowing.Due to Geological Reasons or construction, face upward the situation that may there be the landing foreign material in the slope; And roadbed is loosening, the situation that the slope that causes bowing is damaged.Thus, protective slope structure is set on side slope generally, it can be built by laying by cement and construct, and fixedly anchoring pile can be set.Yet along with factors such as soil erosion, geology variation or earthquakes, the protective slope structure on side slope also can produce the crack.This means that bank protection may damage, thereby can consist of serious threat to the train of the security of operation, particularly high-speed cruising of railway.For this reason, the situation that protective slope structure is monitored in certain measure need to be set.
At present, take manual type (for example regularly inspection) to carry out to the monitoring of bank protection more.And, existingly may unartificial detection mode also all there be certain defective, high such as system cost, device is not durable, metal device is easy to corrosion and damage and have stolen hidden danger etc.
Therewith correspondingly, the fast development of optical fibre device recently and extensively utilization, particularly advanced fiber grating sensing technology are for remote monitoring provides feasibility and convenience and economy.Wherein, fiber-optic grating sensor has that volume is little, precision is high, the life-span is long, high reliability, with advantages such as Transmission Fibers compatibilities, and easily is embedded to object under test inside.
Yet, also do not adopt optical fiber grating sensing network to monitor the case of the state of railway protective slope structure at present both at home and abroad.
Summary of the invention
The object of the invention is to, a kind of technology that is used for monitoring railway bank protection that overcomes the prior art deficiency and meet the economical and efficient demand is provided.
According to an aspect of the present invention, a kind of bank protection information acquisition system is provided, be used for to collect the information relevant with the protective slope structure of at least one side of railroad track, this bank protection information acquisition system comprises: fiber grating displacement sensor individuality or by its distributive array that consists of; And fiber Bragg grating (FBG) demodulator, wherein said fiber Bragg grating (FBG) demodulator is connected by optical fiber cable with said fiber grating displacement sensor or by the array that it consists of; Wherein, described sensor individuality or array are arranged in the protective slope structure of at least one side of railway, when protective slope structure produced the crack, described sensor individuality or array can sense the displacement that cause in the gap, and converted sensing signal to and return to described fiber Bragg grating (FBG) demodulator.
Wherein said fiber grating displacement sensor is arranged on: be positioned at the surface of described protective slope structure, be used for the displacement that sensing is crossed over the connecting line at two ends, gap.
Wherein said fiber Bragg grating (FBG) demodulator carries out demodulation process to the laser that reflects from described fiber-optic grating sensor, and draws the wavelength signals of reflector laser.
According to another aspect of the present invention, provide a kind of bank protection information analysis system, comprising:
Signal receiving device is used for receiving the signal from bank protection information acquisition system according to claim 1, and processor unit is definite by analyzing:
1) which fiber-optic grating sensor each optical maser wavelength signal relates to;
2) flaw level of the representative of the variation of the wavelength of related laser and correspondence;
3) whether described bank protection has the crack, and whether the crack reaches hazard level.
Wherein said system comprises memory storage, and is wherein pre-stored: the corresponding relation between fiber-optic grating sensor and characteristic wavelength; The crack Relations Among that wavelength variations and fiber-optic grating sensor are surveyed; Crack and the routed corresponding relation between danger that collapses of generation bank protection.
Processor unit wherein, also comprise for: determine whether to disappear corresponding to the wavelength signals of one or several fiber bragg grating sensors; And according to predetermined logic rules, judgement is where the position bank protection has occured is burst and collapsed and/or which bar optical fiber cable damage thus.
Processor unit wherein also comprises for determining: with respect to the time, whether the expansion speed in crack is greater than predetermined threshold value.
Processor unit wherein also comprises being further used for: the information of comprehensive a plurality of sensors, determine trend or the threat of collapsing that whether regional area exists the bank protection crack to enlarge.
According to another aspect of the present invention, provide a kind of bank protection monitoring system, comprising:
According to foregoing bank protection data capturing subsystem;
According to foregoing bank protection information analysis subsystem;
Warning system in the situation that described bank protection information analysis system is determined that the bank protection crack occurs and/or reached hazard level, is sent alerting signal and/or information in one or more modes.
Wherein, described bank protection information analysis system is the collected information of a plurality of described bank protection information acquisition system comprehensively, determines the bank protection situation of a plurality of monitoring locations that road is along the line.
The invention has the advantages that, adopt fiber-optic grating sensor, can implementation structure simple, strong adaptability, good stability monitoring system, but long-term stable operation under railway depopulated zone, non-Electric region and rugged environment especially.
Description of drawings
Figure 1A is the schematic diagram of facing upward slope protection;
Figure 1B is the schematic diagram of slope protection of bowing;
Fig. 2 is the schematic diagram according to bank protection monitoring system of the present invention, comprising bank protection data capturing subsystem, bank protection information analysis subsystem and warning subsystem;
Fig. 3 is the schematic diagram according to bank protection data capturing subsystem of the present invention;
Fig. 4 is the logical process schematic diagram according to protection network information analysis system of the present invention.
Embodiment
For making purpose of the present invention, structure and advantage clearer, below in conjunction with accompanying drawing, the present invention is described in detail further.
Wherein, the term in literary composition " side slope " comprises the situation on " facing upward the slope " and " slope of bowing "." face upward the slope " and be railroad track lower than the hillside of both sides and the situation of bank protection, and " slope of bowing " is the situation of the projecting bank protection of railway.
In the railroad track one or both sides shown in reference Figure 1A, 1B, the zone of facing upward the slope or bowing the slope is arranged, usually need to set up protective slope structure, thereby this is to have buried or occupied railroad track in order to prevent that bank protection from collapsing.Security for the monitoring protective slope structure need arrange certain monitoring of structures.According to the present invention, Fiber Bragg Grating Sensor Array is set on bank protection, whether described sensor array can be monitored the crack on bank protection, and the trend in crack and whether reach dangerous degree.Thus, build the bank protection monitoring system, can realize long-range monitoring in real time.
The bank protection monitoring system should have the three basic function: the bank protection crack is detected, can automatically be identified when the crack exceeds the regulation category, can take effective means to report to the police after determining.In order to satisfy above requirements, as shown in Figure 2, should be consisted of by three subsystems at least according to bank protection monitoring system of the present invention: data capturing subsystem; The signal analysis subsystem; The warning subsystem.In addition, because facility is had relatively high expectations for equipment dependability, system must possess self-diagnosing function, and when the equipment information collection path was impaired, equipment can provide corresponding alerting signal and notify the staff to safeguard.
Wherein, shown in the groundwork of data capturing subsystem be collection site bank protection information and change into data, and send to the signal analysis subsystem by transmission means such as networks; The groundwork of signal analysis subsystem is the data that send from data capturing subsystem according to the respective algorithms analysis, and the binding time variable judges the gap variation tendency of bank protection, and sends corresponding alerting signal to the warning subsystem; Warning subsystem main task is to receive can to send the warning means such as light, sound, electricity after the alerting signal that the signal analysis subsystem sends and inform the corresponding warning message of staff at different levels.The below describes respectively each subsystem.
Data capturing subsystem
According to the present invention, described fiber-optic grating sensor operated by rotary motion is at the cement on bank protection fixedly on anchoring pile.In the present invention, preferably adopt stay-supported optical fiber grating displacement sensor.But, do not get rid of the sensor that uses other types yet.Stay-supported optical fiber grating displacement sensor general main by sensor, support, bracing wire and joint, clip fixedly several parts such as auxiliary member form.In the present invention, also should comprise so similar concrete structure, but it only is called for short with " sensor " in this paper many places, and is not described in detail its concrete structure that forms.
According to the present invention, the principle of work of described stay-supported optical fiber grating displacement sensor is:
Each fiber-optic grating sensor receives laser from lasing light emitter (such as (FBG) demodulator), and is reflected back the laser of specific wavelength.For fiber grating displacement sensor, under the impact of displacement, can be offset by its optical maser wavelength that is reflected back.For each fiber-optic grating sensor, the characteristic wavelength λ of its reflection is between 1510-1590nm.Have set relation between the amount △ λ of wavelength shift and displacement S, this relational expression can be expressed as:
△λ
i=k*S
i （1）
Wherein K for predetermined coefficient, is an empirical value or test determination value.
Like this, detect the relative shift of bracing wire stiff end by the catoptrical centre wavelength relative variation of fiber grating.Fiber grating displacement sensor has the wide (advantage such as 300 μ m～20mm), operating temperature range are wide, be not subjected to electromagnetic interference (EMI), corrosion-resistant, anti shock and vibration, antifatigue, long service life of quasi-distributed networking (tens to the hundreds of point), Measurement Resolution high (0.01%FS), measurement range, can be widely used in the relative displacement variation monitoring to various cracks, various structure point-to-point transmissions, can be used for the distortion of Geotechnical Engineering, the measurement that the position relatively moves, also can be used for the Crack Monitoring of disease engineering.
As shown in Figure 3, described data capturing subsystem mainly comprises: sensor location formula array, optical fiber cable and fiber Bragg grating (FBG) demodulator.
Wherein, shown in sensor location formula array comprise a plurality of fiber-optic grating sensors, special case is only to comprise this sensor.Described Fiber Bragg Grating Sensor Array can be to be connected in series, and perhaps is connected in parallel, also can be in parallel and mode that series connection combines, thus consist of certain topological network.For example, a sensor can be set on each detected object, also several sensors can be set, and the sensor on a plurality of measurand connects through certain mode.Particularly, described Fiber Bragg Grating Sensor Array can be connected in a plurality of branches light path, and each branch's light path is connected with main cable by optical cable connecting box, by main cable, each shunt optical cable is connected on the fiber Bragg grating (FBG) demodulator device.Wherein, send laser signal to fiber-optic grating sensor by optical fiber cable by described fiber Bragg grating (FBG) demodulator.Usually, (FBG) demodulator sends predetermined beam of laser, comprises the laser of a plurality of predetermined wavelengths.According to predetermined set, the laser of the fiber-optic grating sensor of each reflection specific wavelength under normal condition, and skew has occured or has disappeared in the wavelength of the laser of fiber-optic grating sensor reflection under the effect of tested displacement.The wavelength variations of the laser of described (FBG) demodulator by relatively reflecting back into (FBG) demodulator observes the external environment condition of each sensor on its impact that produces.
Wherein, described fiber Bragg grating (FBG) demodulator comprises: laser beam emitting device, be used for to generate laser beam, and the laser input/output port, and be used for Laser output to the Transmission Fibers optical cable, described Transmission Fibers is connected with fiber-optic grating sensor, with transfer laser.In addition, described fiber Bragg grating (FBG) demodulator comprises the laser demodulating equipment, is used for the laser signal that demodulation is reflected.In addition, described fiber Bragg grating (FBG) demodulator comprises and also comprises other data-out port, is used for to data platform the data message that gathers such as the server transmission.
Wherein, described fiber Bragg grating (FBG) demodulator is relative with Fiber Bragg Grating Sensor Array to be arranged in the environment to be measured of a certain part matchingly, and described (FBG) demodulator is arranged on safer stable position.And described fiber Bragg grating (FBG) demodulator can be powered by external power source, or externally can be powered by its power supply that carries in the situation of power supply power-fail.
By information acquisition system of the present invention, can collect and obtain about certain position or certain regional area information that occurs of certain service on buses or trains section for example.Wherein, if obtain the wavelength of the laser of certain sensor reflection, skew and lasting regular hour section occuring, this means that certain crack has appearred in the position (on bank protection) of this sensor; If the wavelength shift speed illustrates that the crack is in rapid expansion; If the wavelength of reflector laser reaches certain predetermined value, illustrate that the crack has reached predetermined width; And if should by the laser disappearance of this sensor reflection, illustrate to be likely the sensor of having damaged this position.This just need to utilize information analysis system to analyze the collected signal of above-mentioned information acquisition system, thereby draws certain conclusion.
The information analysis subsystem
According to principle of the present invention, need the configuration information analytic system to analyze from above-mentioned data capturing subsystem and collect the information that obtains.Preferably, information analysis subsystem can be analyzed the information from numerous data capturing subsystems.Wherein, information analysis subsystem can be by wired mode such as optical cable is connected with information acquisition system.Be replacedly, also can send and transmission of information by wireless mode, this can realize by means of satellite network.
Wherein, described information analysis subsystem can be embodied as computer server particularly, and as shown in Figure 2, it comprises or connect corresponding database.According to the present invention, described information analysis subsystem comprises processor, processes and logic judgment unit as data, and the information relevant with the sensor wavelength variation that is used for (FBG) demodulator is sent is analyzed and judges, as shown in the figure, should comprise the following steps:
Step 101: related wavelength determines to belong to the information of which fiber-optic grating sensor.
In view of the characteristic wavelength of the amount of fiber grating sensor wavelength skew and each described sensor is comparatively speaking very little value, general is only the amount of or a few nanometer, and the general sensor characteristics wavelength with adjacent band of the wavelength after changing also can be good at differentiation.Like this, determined just can determine it is the information of corresponding which fiber-optic grating sensor after characteristic wavelength information.And, just can determine corresponding to that position again after determining sensor, as shown in table 1.
Wherein, each fiber bragg grating sensor characteristic of correspondence wavelength X and variable range thereof are pre-stored in server, perhaps calculate according to predetermined amount.
Table 1
| Reflection wavelength | Original wavelength | Respective sensor | Corresponding skew | Correspondence position |
| λ1' | λ1 | S1 | △λ 1 | P1 |
| λ2' | λ2 | S2 | △λ 2 | P2 |
| λ3' | λ3 | S3 | △λ 3 | P3 |
| λ4' | λ4 | S4 | △λ 4 | P4 |
| … | … | … | … |
Step 102: determine the wavelength shift of related sensor and represented level of displacement.
According to preamble, the displacement that sensor senses is corresponding with the wavelength shift of sensor, also just can determine whether the sensing station place the suitable displacement for the treatment of occurs by the amount of monitoring wavelength shift conversely.Referring to following example form 2
Table 2
| Corresponding skew | Level of displacement |
| △λ 1 | S1 |
| △λ 2 | S2 |
| △λ 3 | S3 |
| △λ 4 | S4 |
| … | … |
By look-up table 2 as above or above-mentioned formula (1), can calculate the level of displacement at the place, respective sensor position of each reflection wavelength representative.
Step 103: determine the situation and the order of severity that occur on protective slope structure.
Wherein, level of displacement and protective slope structure burst collapse between danger corresponding situation rule of thumb or measuring estimate, for each sensor, its corresponding relation is reflected among table 3.This corresponding relation is not fixed, but the artificial result of setting, so also can suitably change as the case may be.
Table 3
| Level of displacement | Bank protection crack situation |
| S1 | Situation 1 |
| S2 | Situation 2 |
| S3 | Situation 3 |
| S4 | Situation 4 |
| … | … |
Wherein, table 1,2 and 3 can be the part of the look-up table of an integral body, perhaps three look-up tables that separate.Wherein, also need to judge the situation that the wavelength signals that occur but disappears:
If be transferred to the signal that does not comprise or interrupt corresponding certain fiber-optic grating sensor in the sensor signal of server, mean certain serious situation that occured, such as the protective slope structure of sensor installation is ruined.This need to carry out safe handling at once.If the blackout of the sensor that is connected by minute optical cable is likely that this optical cable is damaged.According to the criterion of height possibility, server can be summarized as it " burst major disaster situation " or " optical cable damage " etc.The logic rules of judgement can specifically be set by operating personnel, or modify.
In addition, further, work as reference time, when determining that the pace of change of wavelength shift is larger, during preferably greater than predetermined threshold value, can determine that the gap is in quick expansion.Namely, bank protection is in the quite dangerous that collapses.
Wherein, in the present invention, for each sensor, according to above-mentioned deterministic process, after the situation such as determined to exist crack, crack to be in expansion, the crack reaches precarious position, the information analysis subsystem can based on this, further, determine in conjunction with the situation of a plurality of sensors which kind of situation has appearred in the bank protection of this regional area according to the predetermined logic rule.Such as, the several sensors on certain local bank protection all obtain the information that the gap enlarges, and this bank protection may be in the larger threat of collapsing.Thus, can send corresponding alerting signal to warning system.
The warning subsystem
The information analysis subsystem, the server section shown in Fig. 2 namely, obtain by analysis that disaster occurs or the information of the extent of injury after, this information is sent to relevant personnel with the form of certain medium, be responsible for personnel, the maintenance personal of railway security such as the zone, and the higher level decision maker.
Wherein, by the personnel that are responsible for security monitoring, according to the situation of monitoring, can by wired or wireless mode, such as phone, note, broadcasting, warning lamp, warn or announce to the relevant personnel.
As a further example, the present invention is fit to carry out automatic monitoring and warning by auto-alarm function, because a server can be used for monitoring numerous sensors and large-area zone, and also can realize the instantaneity of reporting to the police.
Like this, the railroad track bank protection monitoring system that comprises above-mentioned each ingredient has advantages of outstanding with respect to existing mode, i.e. the aspect such as accurate, safe, instant and low-cost.This system also can be relevant with railroad track with other monitoring system compatible or parallel mutually, to realize comprehensive function.The present invention describes as an example of the railway bank protection example, in fact also is applicable to the situation of the bank protection of highway.
Those examples that functional character of the present invention is not limited to provide previously it is contemplated that the function of any kind in spirit of the present invention like this.Although describe the present invention in conjunction with the preferred embodiments of the present invention, be not in order to limit the invention to object lesson set forth herein.On the contrary, scope of the present invention only is subject to described claim.
Claims (15)
1. a bank protection information acquisition system, be used for collecting the information relevant with the protective slope structure of at least one side of railroad track, and this bank protection information acquisition system comprises:
Fiber grating displacement sensor is individual or by its distributive array that consists of; With
Fiber Bragg grating (FBG) demodulator, wherein said fiber Bragg grating (FBG) demodulator is connected by optical fiber cable with said fiber grating displacement sensor or by the array that it consists of;
Wherein, described sensor individuality or array are arranged in the protective slope structure of at least one side of railway, when protective slope structure produced the crack, described sensor individuality or array can sense the displacement that cause in the gap, and converted sensing signal to and return to described fiber Bragg grating (FBG) demodulator.
2. bank protection information acquisition system according to claim 1, wherein
Described fiber grating displacement sensor is stay-supported optical fiber grating displacement sensor, and can sense the change in displacement at connecting line two ends.
3. protection network information acquisition system according to claim 1, wherein said fiber Bragg grating (FBG) demodulator comprises laser beam emitting device, be used for generating laser, and input/output port, be used for Laser output to Transmission Fibers, described Transmission Fibers is connected with fiber-optic grating sensor, and laser turns back to described fiber Bragg grating (FBG) demodulator after the fiber-optic grating sensor reflection
Wherein, laser is when the fiber-optic grating sensor internal reflection, if be subject to outside effect, the wavelength of the laser of reflection can change, and has predetermined correlativity between described variation and external action.
4. protection network information acquisition system according to claim 2, wherein said fiber grating displacement sensor is arranged on:
Be positioned at the surface of described protective slope structure, be used for the displacement that sensing is crossed over the connecting line at two ends, gap.
5. protection network information acquisition system according to claim 1, described Fiber Bragg Grating Sensor Array is connected in a plurality of branches light path, each branch's light path is connected with main cable by optical cable connecting box, by main cable, each shunt optical cable is connected on the fiber Bragg grating (FBG) demodulator device.
6. protection network information acquisition system according to claim 1, wherein said fiber Bragg grating (FBG) demodulator carries out demodulation process to the laser that reflects from described fiber-optic grating sensor, and draws the wavelength signals of reflector laser.
7. bank protection information analysis system comprises:
Signal receiving device is used for receiving the signal from bank protection information acquisition system according to claim 1,
Processor unit, be arranged to by analyzing definite:
1) which fiber-optic grating sensor each optical maser wavelength signal relates to;
2) flaw level of the representative of the variation of the wavelength of related laser and correspondence;
3) whether described bank protection has the crack, and whether the crack reaches hazard level.
8. system according to claim 7, wherein said system comprises memory storage, and is wherein pre-stored:
Corresponding relation between fiber-optic grating sensor and characteristic wavelength;
The crack Relations Among that wavelength variations and fiber-optic grating sensor are surveyed;
Crack and the routed corresponding relation between danger that collapses of generation bank protection.
9. system according to claim 7, processor unit wherein also is arranged for:
Determine whether to disappear corresponding to the wavelength signals of one or several fiber bragg grating sensors; And
According to predetermined logic rules, judgement is where the position bank protection has occured is burst and collapsed and/or which bar optical fiber cable damage thus.
10. system according to claim 7, processor unit wherein, be arranged to also be used for determining:
With respect to the time, whether the expansion speed in crack is greater than predetermined threshold value.
11. system according to claim 7, processor unit wherein also comprises being further used for:
The information of comprehensive a plurality of sensors determines whether regional area exists trend or the threat of collapsing of bank protection crack expansion.
12. a bank protection monitoring system comprises:
Arbitrary described bank protection data capturing subsystem according to claim 1-6;
Arbitrary described bank protection information analysis subsystem according to claim 7-11;
Warning system in the situation that described bank protection information analysis system is determined that the bank protection crack occurs and/or reached hazard level, is sent alerting signal and/or information in one or more modes.
13. system according to claim 12 is characterised in that, described bank protection information acquisition system is connected by wired or wireless mode at a distance with described bank protection information analysis system.
14. according to claim 12 or 13 described systems are characterised in that, comprise one or more described bank protection information acquisition systems, and
Described one or more described bank protection information acquisition system provides the information of collection to one or more described bank protection information analysis systems.
15. system according to claim 12 is characterised in that, described bank protection information analysis system is the collected information of a plurality of described bank protection information acquisition system comprehensively, determines the bank protection situation of a plurality of monitoring locations that road is along the line.
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| CN104374309A (en) * | 2014-11-04 | 2015-02-25 | 朱志明 | Wireless crack scaling gauge |
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| CN111007768A (en) * | 2019-12-17 | 2020-04-14 | 中交上海航道局有限公司 | Slope protection monitoring system and using method thereof |
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| CN104374309A (en) * | 2014-11-04 | 2015-02-25 | 朱志明 | Wireless crack scaling gauge |
| CN105973461A (en) * | 2016-06-22 | 2016-09-28 | 中铁二局集团勘测设计院有限责任公司 | Reinforced earth retaining wall shock alarm system based on sound-light alarm |
| CN108460959A (en) * | 2018-04-09 | 2018-08-28 | 重庆甲虫网络科技有限公司 | A kind of building and geological disaster monitoring system based on low-power consumption Internet of Things |
| CN111007768A (en) * | 2019-12-17 | 2020-04-14 | 中交上海航道局有限公司 | Slope protection monitoring system and using method thereof |
| CN115240370A (en) * | 2022-07-22 | 2022-10-25 | 广州市市政工程试验检测有限公司 | Monitoring and alarming system and monitoring and alarming method for landslide of shallow layer of highway side slope |
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