CN115988445A - Slope staged combined monitoring method based on wireless transmission - Google Patents

Abstract

The invention relates to a method for stage-by-stage combined monitoring of slopes based on wireless transmission, and belongs to the technical field of slope monitoring. Data is sent and received by a shared data sending and receiving system. From the beginning of the construction to the beginning of the construction of the protective pile, an improved measurement robot monitoring method is adopted. When the protective pile is being constructed, a TDR coaxial cable is synchronously drilled at a distance of 1m-2m beside it. Intervention improved TDR monitoring method, follow-up combined monitoring. The beneficial effect of the present invention is that the combined monitoring by stages is adopted to solve the influence of climate and environmental factors and save costs; the data sending and receiving system based on wireless transmission realizes data wireless, remote, real-time, and accurate sending and receiving; the improved measuring robot monitoring method has a wide coverage of the monitoring network and Reduce the amount of prisms and solve the cumbersome problem of base point selection; the improved TDR monitoring method simplifies the construction steps, shortens the construction period, and can judge the effect of the reinforcement project; the high degree of automation improves the monitoring efficiency while reducing manpower and material resources to ensure the safety of the monitoring process.

Description

The Method of Phase-by-stage Combination Monitoring of Slope Based on Wireless Transmission

technical field

The invention belongs to the technical field of slope monitoring, and relates to a method for staged and combined monitoring of slopes based on wireless transmission.

Background technique

Time-sensitive and accurate monitoring of slopes is a key step in our slope stability analysis.

my country's geological structure is complex, there are many types of landforms, and the topography is undulating, which brings great challenges to the monitoring of slopes. At the same time, there are many defects in the traditional monitoring technology, which is specifically reflected in the need for manual data collection, which requires a large workload, and a large number of slope deformation and instability processes in my country mostly occur in mountainous areas, often accompanied by severe weather such as heavy rain and earthquakes. Therefore, when we manually monitor, safety accidents are prone to occur, and at the same time, the efficiency is low, and the obtained data is often inaccurate. For example, the optical instruments used in geodesy, which is often used for surface deformation, are easily affected by environmental climate and topographical conditions, and the monitoring of deep deformation often uses instruments and equipment such as borehole inclinometers used in borehole inclinometers. The cost is high and the monitoring period is long.

Therefore, in order to solve these problems, research trends at home and abroad have developed towards automation, remote monitoring, high precision, and low cost. A number of new monitoring technologies have emerged, such as global positioning system (GPS), remote sensing technology (RS), geographic information system (GIS), commonly known as "3S" technology, ground laser scanner technology, synthetic aperture radar interferometry technology, digital Close-range photogrammetry technology, distributed optical fiber sensing technology, AE technology, InSAR technology, measuring robot and TDR technology, etc.

TDR technology is also known as time domain reflectometry, which is an electrical measurement technology used to measure the deformation degree and deformation position of cables. It was mainly used in the communication industry in the early days; the measurement robot is improved on the basis of the total station and can replace humans for searching, Tracking, identification and accurate measurement and calculation of distance, angle, three-dimensional coordinates and image information.

Contents of the invention

In order to solve the problem of slope monitoring, the traditional manual monitoring method will not only make the monitoring personnel face dangers in the construction and monitoring process, but also the efficiency is not high, the data is inaccurate and the data sending and receiving is not real-time, and at the same time, it is affected by the bad weather and the environment. The impact is relatively large, the construction process of the monitoring project is complicated, the construction period is long, the consumption of manpower and material resources is large, and the cost is high. The same is true for a single monitoring method. Therefore, this application proposes a method for combined monitoring of slopes based on wireless transmission in stages, which solves the above problems while solving the limitations of the traditional monitoring methods of data collection, transmission, processing and analysis; and adopts movable lifting The station device adjusts the visibility conditions of the measuring robot and arranges a rectangular omnidirectional monitoring network, which solves the problems of difficult point selection and incomplete coverage of the monitoring network; at the same time, the installation method of the TDR coaxial cable solves the problem that the traditional monitoring method cannot be judged and reinforced in time The problem of engineering effect has also solved the problem of tight construction schedule to a certain extent.

The technical scheme that the present invention adopts is as follows:

The method of stage-by-stage combined monitoring of slope based on wireless transmission, its steps and methods are as follows:

First set up a complete set of wireless transmission-based data sending and receiving system shared by the improved measurement robot monitoring method and the improved TDR monitoring method;

The improved measurement robot monitoring method refers to the search of the target prism on the slope surface like a rectangular monitoring network by setting simple devices to adjust the visibility conditions of the fully automatic total station, and the self-contained data storage system automatically collects and records monitoring data , and then connect the data sending and receiving system based on wireless transmission for monitoring data sending and receiving, so as to realize the method of all-round monitoring of slope displacement;

The improved TDR monitoring method is a remote electronic measurement method, by burying the TDR coaxial cable at a distance of 1m-2m from the protective pile and synchronizing with the construction of the protective pile, the TDR coaxial cable is used as a sensor, and the coaxial cable tester Send electrical pulses and measure and record the relative impedance change data of the entire coaxial cable length, and then equip multiplexers to monitor multiple points at the same time, and then connect to the data transmission and reception system based on wireless transmission for monitoring data transmission and reception. So as to realize the method of all-round monitoring of slope displacement;

The data transceiving system based on wireless transmission includes a data acquisition module, a wireless transmission module, a data processing and analysis module, and a terminal module;

The data acquisition module includes an improved measurement robot data acquisition submodule and a TDR coaxial cable data acquisition submodule;

The improved measurement robot monitoring method data acquisition sub-module and TDR coaxial cable data acquisition sub-module refer to the improved measurement robot data acquisition sub-module and the improved measurement robot data storage system independent wired connection, TDR coaxial cable data acquisition sub-module The module is connected separately with the coaxial cable detector by cable. When the improved measuring robot monitoring method and TDR monitoring method start to work, the data is automatically collected and stored as a whole with the data acquisition module;

The wireless transmission module refers to a two-way connection with the data acquisition module and the data processing and analysis module for wireless, real-time, remote and accurate sending and receiving of data.

The data processing and analysis module refers to a two-way connection with the wireless transmission module and the terminal module, which is used to process and analyze the data and related images transmitted by the data acquisition module through the wireless transmission module; further transmit the processed and analyzed data and related images to terminal module;

The processing and analysis of data and related images by the data processing and analysis module refers to the three-dimensional coordinate data and related images used to judge surface displacement and deformation, and the deformation data and related images of coaxial cables used to judge underground displacement and deformation. After classification, comparison and analysis, the data report and corresponding displacement and deformation diagrams can be accurately output in a short period of time;

The surface displacement mainly includes horizontal displacement, vertical displacement and cracks, and underground displacement and deformation mainly include sliding surface depth and main sliding direction;

The terminal module is connected to the data processing and analysis module to receive various processed and analyzed data and related images from the data processing and analysis module, and to display all kinds of intuitive data reports and specific slope displacement and deformation graphics. presented to observers;

2) According to the characteristics of each construction stage of the slope, the improved measurement robot monitoring method and the improved TDR monitoring method are used to carry out the phase planning and related layout of the combined monitoring of the slope in stages. From the beginning of the construction to the start of the protective pile construction, the improved measurement robot monitoring method is used as the main monitoring method, and the improved measurement robot monitoring method is related to the layout; when the protective pile construction starts, the improved TDR monitoring method is involved, and the TDR monitoring The relevant layout of the method is carried out; the combined monitoring of the improved measurement robot monitoring method and the TDR monitoring method is further carried out;

The relevant layout of the measuring robot monitoring method refers to installing and fixing a movable lifting platform device on a relatively flat area at the top and bottom of the slope; further installing a measuring robot on it; further laying out measuring points to form an all-round observation network ; Further adjust the position of the measuring robot so that it can search for each measuring point and fix the measuring robot; further connect the data sending and receiving system based on wireless transmission;

The relevant layout of the TDR monitoring method refers to the simultaneous drilling at 1m-2m beside the protective pile when the drilling of the protective pile is to be carried out; further installation of the TDR coaxial cable; further cement mortar pouring, closely combined with the surrounding rock and soil and TDR coaxial cable; further connect the cable detector; further connect the data transceiver system based on wireless transmission.

Further, the data acquisition module, wireless transmission module, data processing and analysis module, and terminal module of the data transceiving system based on wireless transmission all have built-in replaceable rechargeable batteries, and no power supply equipment is required. The terminal module can be a computer terminal or a mobile phone terminal.

Further, the wireless transmission module may be a 5G wireless module, a 4G wireless module or a Wi-Fi wireless module.

Further, the movable lifting platform device is composed of a semicircular track and a lifting platform, and the movable lifting platform device is composed of a semicircular track and a lifting platform; the semicircular track, the inner half rail and the Composed of outer half rails, bolt caps are set at equal distances on the center line of the inner and outer half rails to realize the movement and fixation of the lifting platform; the lifting platform is a manual lifting platform, with symmetrical rollers on both sides of the bottom of the lifting platform and bolts in the middle The hole is installed on the semicircular track, and the fixing bolts of the measuring robot are set on the table to realize the fixing of the measuring robot.

Further, the improved measurement robot monitoring method realizes all-round monitoring of slope displacement, which means that the measurement robot used is a high-precision and durable TM30 measurement robot, and one mobile robot is installed at the top and bottom of the slope. The lifting platform is used as two reference points, named J01 and J02; furthermore, ordinary circular prisms are arranged symmetrically in an equilateral triangle from top to bottom and bottom to top as observation points, forming a rectangular omnidirectional monitoring network as a whole; Further use the high-precision spatial positioning technology of the TM30 measuring robot to determine its reference point and coordinates; further connect the measuring robot data storage system to the measuring robot data acquisition sub-module with a separate cable; further control the TM30 measuring robot for each monitoring point by manually setting parameters Carry out 5-10 automatic patrol observations to obtain 3D observation data and corresponding images; further transfer the data and corresponding images to the separately connected measuring robot data acquisition sub-module; further complete subsequent data sending and receiving and monitoring.

Further, the improved TDR monitoring method realizes all-round monitoring of slope displacement, which means that firstly, it is necessary to simultaneously drill holes 1m-2m away from the protective piles when drilling the slope protective piles, and place the TDR coaxial cable in the In the drilling, further connect the TDR coaxial cable with the cable tester. The cable tester is used as a signal source to send out stepping voltage pulses for transmission through the cable, and at the same time reflect the pulse signal reflected from the cable; further connect the TDR coaxial The cable data acquisition sub-module is connected to the cable tester to control the cable tester, record and store the pulse signal reflected from the cable; it is further equipped with a multiplexer to monitor multiple points at the same time; further Complete follow-up data sending and receiving and monitoring.

Furthermore, the overall construction of a similar rectangular monitoring network means that firstly, the transverse widths of the top and bottom of the slope are roughly measured respectively, and used as the bases of the upper and lower equilateral triangles, which are recorded as upper side 1 and lower side 1; -1.5m equidistance is divided into n segments, forming n-1 equal points and two vertices; further, n-1 equal points and two vertices are used as prism placement points and marked; further, the two bases of the upper and lower equilateral triangles Determine the positions of the other four sides as the benchmark, record them as upper side 2, lower side 2, upper side 3, and lower side 3, and divide and mark them in the same way as the two bottom sides; further fix the prism base with threaded holes at the marked points in sequence; Further, ordinary circular prisms with screws are sequentially installed on the base; further, two large equilateral triangle monitoring nets are composed of upper and lower sides 1, 2 and 3, and the combination of the two is approximately rectangular as a whole. Standard surface; further according to the characteristics of the slope, the upper and lower standard surface side 2 and side 3 on the first, second and third points...n-1 equal points The equidistant arrangement of the prisms on the connecting line forms a small equilateral triangle sub-network inside the upper and lower standard planes; further, any point of the two vertices of the upper and lower sides 1 is used as the starting point of the measuring robot's itinerant observation; and further named from the starting point as G01, G02, G03...Gn ² -n; further form the top and bottom of the slope measurement robot around the standard surface side 1 and side 2 and side 3 equal points, two equal points, third equal points...n-1, etc. The connection of the sub-points forms an S-shaped route search prism, which is similar to a rectangular monitoring network in all directions.

Furthermore, the three-dimensional observation data and corresponding images collected by the measurement robot for 5-10 automatic tour observations on each monitoring point refer to the three-dimensional coordinates and Corresponding displacement and deformation images; the completion of follow-up data sending and receiving and monitoring refers to the acquisition and storage of the above-mentioned three-dimensional coordinates and corresponding displacement and deformation images by the measurement robot data acquisition sub-module, wherein the three-dimensional coordinates are marked as M1, M2, M3...Mn; further The collected and stored three-dimensional coordinates and corresponding displacement and deformation images are transmitted to the data processing and analysis module through the wireless transmission module, and after being processed and analyzed by the data processing and analysis module, the pairwise difference is obtained as the deformation of the observation point, which is recorded as Δ1= M2-M1, Δ2=M3-M2,...Δn=Mn-Mn-1, and classify specific displacement and deformation diagrams; further transmit the processed and analyzed intuitive data reports and specific displacement and deformation diagrams to the terminal module, It is used to monitor the development of surface displacement and deformation, mainly including horizontal displacement, vertical displacement monitoring and crack monitoring.

Further, recording and storing the pulse signal reflected from the cable, and further completing subsequent data transmission and monitoring means that when the coaxial cable is twisted, bent, disconnected, etc. due to slope instability, the characteristic impedance will change accordingly , the electrical pulse signal will also be reflected and generate a reflected signal. When the TDR tester receives the reflected signal, it will transfer the delay, wavelength, range and intensity data and related images of the transmitted signal and the reflected signal to the TDR at the same time. Axis cable data acquisition sub-module; further transmit the above data to the data processing and analysis module through the wireless transmission module; further data processing and analysis module analyzes and compares the data transmitted here through the wireless transmission module, and classifies to obtain a clear displacement and deformation map and data report; further transmit the displacement and deformation graph and data report to the terminal module; further judge the position and type of deformation of the coaxial cable, so as to judge whether the slope soil in the whole area will be deformed, and the main monitoring is relatively stable The underground displacement of the formation, confirm and determine the structural characteristics of the ongoing displacement, determine the depth of the potential sliding surface, judge the depth of the main sliding surface, judge the direction of the main sliding, and judge the effect of the slope reinforcement project.

Furthermore, when the protection piles of the reinforcement project were not carried out in the early stage, the improved monitoring method of the measuring robot was mainly used for monitoring. The measuring robot was separately connected to the data sending and receiving system based on wireless transmission through the measuring robot data acquisition sub-module, and the TDR data acquisition sub-module did not work. When the slope protection piles start to be constructed, the TDR monitoring method is involved, and the TDR data acquisition sub-module is connected to the data sending and receiving system based on wireless transmission.

Beneficial effects of the present invention:

Invented a data sending and receiving system based on wireless transmission, which effectively solves the problem of data sending and receiving when combined monitoring with different monitoring methods, ensures the accuracy and timeliness of data, realizes wireless remote transmission, and makes the monitoring results intuitive. The graphics are presented to the observers, which reduces the workload of the monitors; at the same time, the combined monitoring is adopted in stages. When the protective pile construction of the reinforcement project is not carried out in the initial stage, the improved measurement robot monitoring method is used for monitoring, which can ensure the safety of the construction process and the monitoring process. At the same time, the observation points are arranged symmetrically in a regular triangle from top to bottom and bottom to top. Not only is the design and later data processing simple, the formed monitoring network covers a wide range of slopes, but also effectively reduces the number of prisms used. Save cost; at the same time, install a simple movable lifting platform device to adjust the viewing conditions of the measuring robot, and solve the problem of difficult point selection; when the protective pile is holed for construction, install the TDR coaxial cable synchronously at a distance of 1m-2m, and intervene The improved TDR monitoring method, since then, the combined monitoring of the two simplifies the construction steps, shortens the construction period, and has a certain monitoring effect on the construction of protective piles, so that the effect of the reinforcement project can be judged in a timely manner and rectified; at the same time, the improved TDR monitoring method is adopted Combining monitoring with the improved measurement robot monitoring method, combining the advantages and disadvantages of the two, complementing each other, solving the monitoring problem that is greatly affected by severe weather and climate, with a high degree of automation, and can realize 24-hour unmanned observation, ensuring the construction process And monitor the safety of the process, but also effectively save costs.

Description of drawings

Fig. 1 is the overall flowchart of the present invention;

Fig. 2 is a schematic diagram of a data sending and receiving system based on wireless transmission;

Fig. 3 is a schematic diagram of an example layout of a slope monitoring network divided into quarters by the improved measurement robot monitoring method;

Fig. 4 is a schematic diagram of the arrangement of observation base points for slope monitoring in the improved monitoring method of measuring robot;

Figure 5 is a schematic diagram of the monitoring principle and layout of the improved TDR monitoring method;

Fig. 6 is a schematic plan view of the movable lifting platform device;

Figure 7 is a schematic diagram of combined monitoring;

Figure 8 is the elevation of the Nanmengxi Super Bridge;

Figure 9 is the elevation view of the main tower pile foundation and protective piles of the Nanmengxi Super Bridge;

Figure 10 is a cross-sectional view of the accumulation body slope of the 4# main pier of the Nanmengxi Super Bridge;

Figure 11 is a monitoring map of the accumulation of the 4# main pier of the Nanmengxi Super Bridge;

Figure 12 is a diagram of the monitoring results of some observation piles;

Fig. 13 is the result map of the deep horizontal displacement of measuring point 1;

Figure 14 is the result map of deep horizontal displacement at measuring point 2.

In the figure: the circle shown in 1 is the layout point of each prism; 2 is the lower side 1; 3 is the lower side 2; 4 is the lower side three; 5 is the small regular triangle subnet in the standard plane; 6 is the upper side 1; 7 is the upper side 2; 8 3 is the upper side; 9 is the coaxial cable detector; 10 is the TDR coaxial cable; 11 is the protective pile; 12 is the semicircular sliding track; Bolt; 16 is the data transceiver system; GC-1, GC-2, GC-3, GC-4, GC-5, GC-6, GC-7, GC-8, GC-9, GC-10, GC- 11. GC-12, GC-13, GC-14, GC-15, and GC-16 are 16 displacement pile embedding positions; SP1, SP2, SP3, SP4, SP5, SP6, SP7, SP8, and SP9 are 9 The installation position of the root inclinometer.

Detailed ways

In order to explain the present invention better, so that understanding, below in conjunction with specific embodiment and with reference to accompanying drawing, the present invention is further described in detail:

Embodiments Taking the Nanmengxi Super Bridge as an example, the Nanmengxi Super Bridge is located about 1.7km upstream of the existing S311 Provincial Highway Nanmengxi Bridge. 6×40m prestressed concrete cable-stayed bridge with twin towers and double cable planes, the bridge length is 987.5m, the main tower is 244.5m/253.5m high, and the main span is 360m. See Figure 8 for the elevation of Nanmengxi Super Bridge.

Because the 4# pier of the Nanmengxi Super Bridge is located in the anti-slip section of the accumulation body, the cap is larger in size and the main tower is taller. To ensure the safety of the main project during the construction and operation periods, protective piles are installed on the upper and lower edges of the cap. The specific design is as follows:

(1) A row of embedded slope protection piles (design anti-sliding force 500KN/m) is set at 6m below the 4# pier. The pile length is 25m, the pile diameter is 1.8m, and the pile spacing is 2m. There are 28 piles in total. 1.5m crown beam connection.

(2) Set 16 square 2.5m×3m anti-slide piles at 1.1m from the upper edge of 4# pier.

(3) 30 rock-socketed piles with a diameter of 2.8m are set under the No. 4 main tower, and the pile length is 27-30m.

The side slopes on both sides of the square pile are graded according to 1:1.25, and the rear side slope is graded according to 1:1.5. From one slope to the top, the maximum slope height is 12.1m, and the slope ratio of the end slope is gradually changed according to 1:1.25 to 1:1.5. The slope is protected by planting grass with frame anchors. An intercepting ditch is set outside the groove line. The slope body is provided with 2 rows of inclined drainage holes, with a horizontal spacing of 5m and a vertical spacing of 4m. The temporary drainage ditch at the bottom of the cap will be changed into a blind drainage ditch later. The elevation of the pile foundation and protective piles of the 4# main tower is shown in Figure 9.

At present, the underground engineering of the project has been completed, and the effect achieved is relatively good. The specific reasons for the success are analyzed as follows:

(1) Reconnaissance: Carry out all-round reconnaissance in terms of topography, stratum lithology, hydrogeology, regional seismic parameters, etc., and strictly implement various laws, regulations and mandatory standards for engineering construction. A complete, detailed and high-quality survey quality report was compiled, which provided a basic guarantee for subsequent construction.

(2) Construction design: During the engineering design process of this underground project, the scientific design was strictly carried out according to the geological exploration data and the construction unit's requirements for the use of engineering functions, and the relevant national laws and regulations and mandatory standards for engineering construction were strictly implemented. The specific sequence of construction is as follows: first construct the intercepting ditches around the upper excavation surface of the 4# main pier, and lay out surface inspection points; Drainage around the platform cap; further construction of the main pier pile foundation; after further completion of the platform cap construction, backfill the gap behind the platform. The construction sequence of the design is scientific and reasonable, and a complete progress plan has been compiled and strictly followed, which effectively saves the construction period and ensures the smooth progress of the construction.

(3) In terms of construction process: the procurement of materials is strictly based on the construction drawings, construction organization design, and this special construction plan to prepare the main material consumption plan for the manual excavation pile project, and list the product name, specification, quality, and quantity of the required materials And other requirements stipulated in the contract documents and supply agreement, and strictly implement the ordering, processing contract and technical standards for material acceptance, this method ensures the quality of materials, thereby ensuring the quality of the project; for the equipment used in the construction process, strictly follow the construction specifications and standard classification, regular maintenance and inspection; for the pile foundation construction, there is a scientific and rigorous construction process, and the construction is strictly in accordance with the design drawings and calculation requirements during the construction process, and on-site monitoring is adopted. The combined monitoring method can detect and rectify construction problems in time to ensure the quality of construction; including blasting construction, steel cage production and installation, and concrete construction, etc., are strictly in accordance with construction specifications and design requirements. It provides a substantial guarantee for the success of the project.

(4) Monitoring engineering: with a complete monitoring system, the construction process can be adjusted in time according to the monitoring effect, reducing the construction error and ensuring the smooth progress of the construction process. For the monitoring of surface deformation, a total station is used for horizontal displacement monitoring , the level monitors the vertical deformation. Use stakes, rulers or crack meters to observe the development of surface cracks. For underground displacement monitoring, use an inclinometer to monitor the displacement of deep rock and soil, monitor the deformation development trend of the slope, determine the depth of the potential sliding surface, and determine the main sliding direction.

In order to highlight the purpose of the present invention, technical solutions and beneficial effects, the system scheme and specific disadvantages of the 4# main pier accumulation body slope monitoring project of the Nanmengxi Super Bridge are specifically elaborated as follows:

The monitoring of the deposits at the 4# main pier of the Nanmengxi Super Bridge includes monitoring during the construction period, monitoring of prevention and control effects and monitoring during the operation period. The monitoring during the construction period mainly adopts surface displacement monitoring, and deep hole displacement monitoring when necessary. The slope deformation data is used to correct the design and guide the construction to ensure construction safety and test the engineering effect. The monitoring during the operation period includes surface displacement monitoring, slope and pile deep horizontal displacement monitoring, groundwater level monitoring, etc. The prevention and control effect monitoring is carried out in combination with the monitoring during the construction period and the operation period. See Figure 10 for the side slope profile of the 4# main pier of the Nanmengxi Super Bridge.

For the slope monitoring of the Nanmengxi Super Bridge, for the monitoring of surface deformation, the traditional total station is used for horizontal displacement monitoring, and the level is used for vertical deformation monitoring. Use stakes, rulers or crack meters to observe the development of surface cracks. For underground displacement monitoring, use an inclinometer to monitor the displacement of deep rock and soil, monitor the deformation development trend of the slope, determine the depth of the potential sliding surface, and determine the main sliding direction. See Table 1 below for the number of observation targets, and see Figure 11 for the monitoring map. In Figure 11, GC-1, GC-2, GC-3, GC-4, GC-5, GC-6, GC-7, and GC-8 , GC-9, GC-10, GC-11, GC-12, GC-13, GC-14, GC-15, GC-16 are the embedding positions of 16 displacement piles; SP1, SP2, SP3, SP4, SP5, SP6, SP7, SP8, SP9 are the installation positions of 9 inclinometer pipes.

Table 1 Quantity of Observation Mark Arrangement

The specific construction steps of the monitoring project are as follows:

(1) For the embedding of test piles:

C15 reinforced concrete prefabricated piles are used for natural ground displacement observation piles outside the cutting top; reinforced concrete prefabricated piles or steel drilled observation piles can be buried for observation piles at the middle of the slope, platform, and slope toe. Deep-buried concrete piles are used as observation piles in the soil slope section, and 20cm square marker stones (buried observation points) can be made on the stable rock surface for stone slopes. Those with reinforcement facilities such as retaining walls should be buried on the top surface. Observation point. The observation point uses a steel bar not less than φ16, the top is ground into a hemispherical shape, and a cross is engraved in the middle.

C15 reinforced concrete prefabricated piles are buried on the natural slope outside the top of the cutting. The cross-sectional size of the piles is 15cmX15cm square, and the length is not less than 1.5m. A semi-circular stainless steel wear-resistant probe is pre-embedded on the top of the piles. Make sure that the observation piles are embedded stably. Set steel-brazed observation piles at the slope platform and slope foot, and the buried depth should not be less than 30cm. The top of the steel brazing should be engraved with a "ten" fork and painted with anti-corrosion red paint.

The monitoring instrument should be a high-precision total station with an accuracy of ≤1". The monitoring instrument for this project is a traditional total station, which has been calibrated and qualified. The measurement adopts the angle intersection method for observation.

(2) For inclinometer installation:

① Positioning is accurate. The inclinometer conduit is buried at the slope toe of the platform.

② Drill holes at the selected location, the hole diameter should be 40mm larger than the outer diameter of the inclinometer catheter, and the deviation of the verticality of the drilled holes should not be greater than 1 degree; the hole depth should meet the design requirements.

③ When connecting long pipes, make the guide grooves strictly aligned without any deviation.

④The bottom of the inclinometer conduit should be equipped with a bottom cover, and the connection between the bottom cover and each inclinometer conduit should be sealed to prevent mud and debris from entering the pipe.

⑤The embedding process is as follows: Put the inclinometer conduit with the bottom cover into the drill hole, connect the inclinometer conduit with a pipe joint, and reserve a length of section, and then rivet each root, and lower it into the hole while closing it. Make a pair of guide grooves in the inclinometer guide close to the main direction of the expected displacement.

⑥The gap between the inclinometer conduit and the hole wall can be backfilled with medium-coarse sand.

⑦ After the burial is completed, the relevant data of the inclinometer conduit should be recorded in the burial verification record sheet in time. The main contents of the verification table include: project name, instrument model, manufacturer, inclination measuring hole number, hole depth, orifice elevation, hole bottom elevation, embedding position, embedding method, guide groove direction, inclination measuring conduit specification, embedding schematic diagram, Main burying personnel, burying date, etc.

⑧ After the inclinometer catheter is buried and stabilized for a period of time, the initial value can be established.

The monitoring period is not less than two years after the excavation of the slope body to the completion and operation of the slope, or it may be extended depending on the deformation of the slope body. The monitoring period for the prevention and control effect is not less than one year after the renovation project is completed and the road is in operation.

The frequency of monitoring is as follows:

a. Surface displacement monitoring 2-3 times/week, 1 time/day when deformed, several times a day when severe deformation;

b. Underground displacement monitoring 1-2 times/month, 1-2 times/week when deformation, 1 time/day when deformation is severe.

See Figure 12 for the monitoring results of some observation piles, and Figures 13 and 14 for the monitoring results of the inclinometer tube (deep horizontal displacement at measuring point 1 and measuring point 2).

The disadvantages of the monitoring project of the Nanmengxi Super Bridge can be analyzed as follows:

(1) The traditional total station is used for horizontal displacement monitoring, and the level is used for vertical deformation monitoring. The monitoring method is greatly affected by bad weather and the environment. At the same time, due to the limitation of visibility conditions, it will be difficult to select and arrange points;

(2) The installation and burial of inclinometer pipes and piles is cumbersome and has a large amount of work, while the technical content is high, which seriously affects the construction period;

(3) The required quantity of inclinometer tubes and observation piles is large and cannot be reused, so the cost is high and not economical;

(4) The monitoring method is independent, and the process of data collection, processing and analysis is cumbersome and mostly manual, resulting in a large workload and lack of timeliness and accuracy;

(5) During the entire monitoring process, a lot of manpower is required, and the manpower must be related technicians, and the frequency of manual monitoring is also high, which is time-consuming and labor-intensive, increases costs, and is not conducive to the safety of the monitoring process;

Therefore, based on the disadvantages of the above-mentioned Nanmengxi Super Bridge monitoring project, the method of the present invention based on wireless transmission-based combined slope monitoring in stages can be introduced to carry out all-weather slope monitoring. The specific implementation steps are as follows:

As shown in FIG. 2 , in this embodiment, a complete wireless transmission-based data sending and receiving system shared by the improved measurement robot monitoring method and the improved TDR monitoring method is firstly set up.

The improved measurement robot monitoring method in this embodiment refers to the search of the target prism on the slope surface like a rectangular monitoring network by setting simple devices to adjust the sight conditions of the fully automatic total station, and the self-contained data storage system automatically collects and records Monitoring data, and then connected to the data transmission and reception system based on wireless transmission for monitoring data transmission and reception, so as to realize the method of all-round monitoring of slope displacement; the improved TDR monitoring method is a remote electronic measurement method, by burying the TDR coaxial cable It is 1m-2m away from the protective pile and carried out simultaneously with the construction of the protective pile. The TDR coaxial cable is used as the sensor. The coaxial cable tester sends electric pulses and reads and records the relative impedance change data of the entire coaxial cable length. After that, it is equipped with The multiplexer monitors multiple points at the same time, and then connects the data transceiver system based on wireless transmission to transmit and receive monitoring data, so as to realize the method of all-round monitoring of slope displacement;

The data transceiving system based on wireless transmission in this embodiment includes a data acquisition module, a wireless transmission module, a data processing and analysis module, and a terminal module; wherein in this embodiment, the data acquisition module includes an improved measurement robot data acquisition sub-module and a TDR coaxial cable Data acquisition sub-module; the improved measurement robot data acquisition sub-module and the TDR coaxial cable data acquisition sub-module in this embodiment refer to the independent wired connection between the improved measurement robot data acquisition sub-module and the improved measurement robot's own data storage system 1. The TDR coaxial cable data acquisition sub-module is connected to the coaxial cable tester independently by wired connection. When the improved measuring robot and TDR technology start to work, the data acquisition is carried out automatically and stored as a whole with the data acquisition module; in this embodiment, the wireless transmission The module is bidirectionally connected with the data acquisition module and the data processing and analysis module for wireless remote sending and receiving of data; the data processing and analysis module in this embodiment is bidirectionally connected with the wireless transmission module and the terminal module to receive the data acquisition module via the wireless transmission module The data and related images transmitted here are processed and analyzed, and the processed and analyzed data and related images are transmitted to the terminal module; in this embodiment, the data processing and analysis module performs data and related image processing and analysis. The three-dimensional coordinate data and related images of displacement and deformation, as well as the deformation data and related images of TDR coaxial cables used to judge underground displacement and deformation, are classified, compared and analyzed, and the data reports and corresponding corresponding data reports are accurately output in a short time. Displacement and deformation diagrams; surface displacement mainly includes horizontal displacement, vertical displacement and cracks in this embodiment, underground displacement and deformation mainly include sliding surface depth and main sliding direction; terminal module in this embodiment refers to connecting with data processing analysis module It is used to receive various processed and analyzed data and graphics from the data processing and analysis module, and present the specific slope displacement, deformation diagram and various intuitive data reports to the observers;

In this embodiment, the data acquisition module, wireless transmission module, data processing and analysis module, and terminal module of the measurement data transceiver system based on wireless transmission are all built-in replaceable rechargeable batteries, and no power supply equipment is required. The terminal module can be a computer terminal and a mobile phone. end, wherein the wireless transmission module can be a 5G wireless module, a 4G wireless module or a Wi-Fi wireless module.

The specific performance is that the improved measurement robot monitoring method was used for monitoring when the protective piles of the reinforcement project were not carried out in the early stage. Only the measurement robot data storage system was wired to the measurement robot data acquisition sub-module, and the TDR data acquisition sub-module was in a non-working state. When the construction of the protective pile starts, the TDR monitoring method is involved, and the TDR data acquisition sub-module is connected to the coaxial cable detector to start working, and then complete the subsequent data acquisition, processing analysis and transmission. Its purpose is to solve the disadvantages of traditional combined monitoring methods, such as the disadvantages of the monitoring process of the Nanmengxi Super Bridge (4), so that the data collection, analysis and processing are consistent and accurate in real time, and solve the disadvantages of manual analysis and processing of data results. The data obtained by the two monitoring methods are simultaneously reflected to the monitoring personnel in the form of visual results obtained after analysis and processing;

In this embodiment, different monitoring measures are adopted according to the construction characteristics of different stages of the slope. From the beginning of construction to the beginning of construction of protective piles, the improved measurement robot monitoring method is used as the main monitoring method. The layout steps are as follows:

As shown in Figure 6, this embodiment first needs to select a relatively flat section at the top and bottom of the slope to install and fix a movable lifting platform device composed of a semicircular track and a manual lifting platform, wherein the semicircular track consists of the inner half track and Composed of outer half rails, the bolt caps are set at equal distances on the center line of the inner and outer half rails to realize the movement and fixation of the lifting platform; there are symmetrical rollers on both sides of the bottom of the manual lifting platform, and a bolt hole in the middle, which is installed between the semicircular track. On the table, the fixing bolts of the automatic total station are set to realize the movement of the lifting platform and the fixing of the measuring robot;

Further, a high-precision and durable TM30 measuring robot is installed on the movable lifting platform at the top and bottom of the slope as two reference points;

As shown in Figure 4, further, adjust the position of the measuring robot so that it can search for each measuring point and fix the TM30 measuring robot, named J01, J02;

The specific performance is that the installation of the measuring robot on the movable lifting platform can move 180 degrees and adjust the viewing conditions. The purpose is to solve the traditional total station for horizontal displacement monitoring, the level for vertical deformation monitoring and other surface displacement monitoring. It is difficult to select and arrange points due to the limitation of visibility conditions, such as the disadvantage of the monitoring process of the Nanmengxi Super Bridge (1);

As shown in Figure 3, the present embodiment then needs to roughly measure the transverse width of the top of the slope and the bottom of the slope respectively, as the bases of the upper and lower equilateral triangles, which are recorded as upper side 1 and lower side 1; further divide the two bases by 1m-1.5 m equidistance is divided into n segments, forming n-1 equal points and two vertices; further, n-1 equal points and two vertices are used as prism placement points and marked; further, the two bases of the upper and lower equilateral triangles are used as the benchmark Determine the positions of the other four sides, which are recorded as upper side 2, lower side 2, upper side 3, and lower side 3, and divide and mark them in the same way as the two bottom sides; further fix the prism base with threaded holes in the marked position in turn; Ordinary circular prisms with screws are installed on the base in sequence; two large equilateral triangle monitoring nets are further composed of upper and lower sides 1, 2 and 3, and the combination of the two is approximately rectangular as a whole, as two standard surfaces ;Further according to the characteristics of the slope, carry out the first equal point, the second equal point, the third equal point on the upper and lower standard surface side 2 and side 3 at the easily unstable parts of the slope...n-1 equal point connection The equidistant arrangement of the prisms on the top forms a small equilateral triangle subnet inside the upper and lower standard planes; further, any point of the two vertices of the upper and lower sides 1 is used as the starting point of the measuring robot’s itinerant observation; further, it is named G01, G02, G03...Gn ² -n; further form the top and bottom of the slope measurement robot around the standard surface side 1, side 2 and side 3 first, second, third...n-1 equal points The connections form an S-shaped route search prism as a whole, which is similar to a rectangular monitoring network in all directions;

The specific performance is that the installation of prisms effectively replaces the construction layout of observation piles in the traditional monitoring method, and can be reused to form a coherent observation network, so that the measurement robot can continuously search for the prisms at each monitoring point, and then complete the monitoring , in which the small regular triangle sub-network inside the standard surface can be set or not, and it can be selected according to the specific characteristics of the slope, and the places that are prone to instability should be laid out; the purpose is to reduce the amount of prisms and save costs. On the basis of forming a wider coverage The monitoring network ensures the continuity of the measurement robot search prism and the subsequent data processing is simple, shortens the construction period, and ensures the safety of the construction process and monitoring process;

Further, use the high-precision spatial positioning technology of the TM30 measuring robot to determine its reference point and coordinates, control the TM30 measuring robot to perform 5-10 automatic patrol observations for each monitoring point by manually setting parameters, and then connect the measuring robot data acquisition sub-module , start 5-10 automatic patrol monitoring;

Further, send and receive, process and analyze monitoring data;

The sending and receiving, processing and analysis steps and principles of monitoring data in this embodiment are as follows:

The measurement robot data acquisition sub-module collects and stores the three-dimensional coordinate data and related images obtained by the measurement robot for 5-10 automatic patrol observations of the monitoring points to judge the surface displacement and deformation, where the three-dimensional coordinate data are recorded as M1, M2, M3...Mn;

Further, the measurement robot data collection sub-module transmits the collected and stored three-dimensional coordinate data and related images to the data processing and analysis module via the wireless transmission module;

Further, the data processing and analysis module analyzes and processes the received three-dimensional coordinate data and related images, mainly including the three-dimensional coordinate data and related images used to judge the surface displacement and deformation, and obtains the pairwise difference as the deformation amount of the observation point, Record it as Δ1=M2-M1, Δ2=M3-M2,...Δn=Mn-Mn-1, and classify the displacement and deformation diagrams, and then accurately output data reports and displacement and deformation diagrams in a short time;

Furthermore, the terminal module receives various processed and analyzed data reports and displacement and deformation diagrams from the data processing and analysis module, and then reports the development status of surface displacement and deformation, mainly including various types of horizontal displacement, vertical displacement and cracks. Intuitive data reports and displacement and deformation diagrams are presented to observers.

The specific performance is that the data processing and analysis is carried out according to the data processing and analysis module, and the deformation amount is obtained by simply doing the difference between the three-dimensional coordinates between two points, and the relevant displacement and deformation diagram can be obtained at the same time. Its purpose is to solve the problem of large workload of manual analysis and processing data when the traditional total station is used for horizontal displacement monitoring, the level is used for vertical deformation monitoring and other surface displacement monitoring, such as the disadvantages of the monitoring process of the Nanmengxi Super Bridge (4);

In this embodiment, when the protective pile is to be constructed, the improved TDR monitoring device is involved, and the specific steps are as follows:

In this embodiment, firstly, it is necessary to simultaneously drill holes at a position of 1-2m away from the protective piles when the slope protection piles are drilled, and place the TDR coaxial cable in the drilled holes;

Further, connect the TDR coaxial cable with the cable tester;

Further, connect the TDR coaxial cable data acquisition sub-module to the cable tester;

Further, a multiplexer is equipped to monitor multiple points simultaneously;

Further, connect the data sending and receiving system based on wireless transmission, and start monitoring;

The specific performance is that the installation process of the traditional underground monitoring inclinometer pipe is replaced by burying the TDR coaxial cable through simple steps. Its purpose is to solve the problem of monitoring underground displacement with traditional buried inclinometers. The disadvantages (2) and (3) of the monitoring process of Nanmengxi Super Bridge can effectively shorten the construction period and reduce costs. It also has a certain monitoring effect on the construction of protective piles. Moreover, the data collection is real-time, and it is faster to judge the effect of the reinforcement project;

In this embodiment, the principles and steps of analyzing and processing the monitoring data of the TDR monitoring device are as follows:

First of all, when the slope instability is twisted, bent, disconnected and other deformations, the characteristic impedance will change, and the electric pulse signal will also be reflected and a reflected signal will be generated. When the TDR tester receives the reflected signal, it will The data of the delay, wavelength, range and intensity of the transmitted signal and the reflected signal and the relevant images are transferred to the TDR coaxial cable data acquisition sub-module, and then transmitted to the data processing and analysis module through the wireless transmission module;

Further, the data processing and analysis module processes and analyzes the data and related images to obtain clear and intuitive displacement and deformation diagrams and data reports, and further transmits the processed and analyzed displacement and deformation diagrams and data reports to the terminal module;

Furthermore, the terminal module analyzes the displacement and deformation diagrams and data reports from the data processing and analysis module to determine the location and type of deformation of the coaxial cable, so as to determine whether the slope soil in the entire area will be deformed , confirm and determine the structural characteristics of the displacement, determine the depth of the potential sliding surface, judge the depth of the main sliding surface, judge the direction of the main sliding, and judge the effect of slope reinforcement engineering. As shown in Figure 5;

As shown in Figure 7, in this embodiment, the improved TDR monitoring device is less affected by the environment and climate, and the cost is lower. It can periodically observe the displacement of the underground rock mass relative to the stable formation for a long time and can judge the slope reinforcement. The effect is complementary to the measurement robot used to monitor the development of surface displacement and deformation, mainly including horizontal displacement, vertical displacement monitoring and crack monitoring, and conduct 24-hour real-time observation to ensure the timeliness of monitoring and the safety of reinforcement effect;

Specifically, since then, the improved measuring robot and the TDR monitoring device have been used for all-weather combined monitoring, and the two share a data sending and receiving system based on wireless transmission for real-time sending, receiving, analysis, processing and feedback of surface and underground monitoring data. Its purpose is to solve the impact of harsh weather and environment on monitoring projects, realize the simultaneous sending and receiving of surface and underground displacement monitoring data, and improve the degree of automation.

Claims (10)

1. A method for phased combination monitoring of slopes based on wireless transmission, characterized in that: 1) First set up a complete set of wireless transmission-based data sending and receiving system shared by the improved measurement robot monitoring method and the improved TDR monitoring method; The improved measurement robot monitoring method refers to the search of the target prism on the slope surface like a rectangular monitoring network by setting simple devices to adjust the visibility conditions of the fully automatic total station, and the self-contained data storage system automatically collects and records monitoring data , and then connect the data sending and receiving system based on wireless transmission for monitoring data sending and receiving, so as to realize the method of all-round monitoring of slope displacement; The improved TDR monitoring method is a remote electronic measurement method. By embedding the TDR coaxial cable at a distance of 1m-2m from the protective pile and synchronizing with the construction of the protective pile, the TDR coaxial cable is used as a sensor, and the coaxial cable tester Send electrical pulses and measure and record the relative impedance change data of the entire coaxial cable length, and then equip multiplexers to monitor multiple points at the same time, and then connect to the data transmission and reception system based on wireless transmission for monitoring data transmission and reception. So as to realize the method of all-round monitoring of slope displacement; The data transceiving system based on wireless transmission includes a data acquisition module, a wireless transmission module, a data processing and analysis module, and a terminal module; Described data acquisition module comprises measurement robot data acquisition submodule and TDR coaxial cable data acquisition submodule; The measurement robot data acquisition sub-module and the TDR coaxial cable data acquisition sub-module refer to the measurement robot data acquisition sub-module and the improved measurement robot data storage system for separate wired connection, the TDR coaxial cable data acquisition sub-module and the coaxial cable detection When the improved measurement robot monitoring method and the improved TDR monitoring method start to work, the data will be collected automatically and stored as a whole with the data acquisition module; The wireless transmission module refers to a two-way connection with the data acquisition module and the data processing and analysis module for wireless, real-time, remote and accurate sending and receiving of data; The data processing and analysis module refers to a two-way connection with the wireless transmission module and the terminal module, which is used to process and analyze the data and related images transmitted by the data acquisition module through the wireless transmission module; further transmit the processed and analyzed data and related images to terminal module; The processing and analysis of data and related images by the data processing and analysis module refers to the three-dimensional coordinate data and related images used to judge surface displacement and deformation, and the deformation data and related images of TDR coaxial cables used to judge underground displacement and deformation After classification, comparison and analysis, the data report and corresponding displacement and deformation diagrams are accurately output in a short period of time; The terminal module is connected to the data processing and analysis module to receive various processed and analyzed data and related images from the data processing and analysis module, and to display all kinds of intuitive data reports and specific slope displacement and deformation graphics. presented to observers; 2) Further according to the characteristics of each construction stage of the slope, use the improved measurement robot monitoring method and the improved TDR monitoring method to carry out the stage planning and related layout of the slope combined monitoring in stages. From the beginning of construction to the beginning of the construction of protective piles, the improved The measurement robot monitoring method is used as the main monitoring method, and the improved measurement robot monitoring method is further arranged; when the protective pile construction starts, the improved TDR monitoring method is involved, and the improved TDR monitoring method is further arranged; the improved measurement method is further carried out Combination monitoring of robot monitoring method and improved TDR monitoring method; The relevant layout of the improved measuring robot monitoring method refers to installing and fixing a movable lifting platform device on a relatively flat area at the top and bottom of the slope; further installing a measuring robot on it; further laying out measuring points to form an all-round Observation network; further adjust the position of the measuring robot so that it can search for each measuring point and fix the measuring robot; further connect the data sending and receiving system based on wireless transmission; The improved TDR monitoring method and relevant layout refer to the simultaneous drilling at 1m-2m beside the protective pile when drilling the protective pile construction; further installation of TDR coaxial cables; further cement mortar pouring, tightly combined Surrounding rock and soil and TDR coaxial cable; further connected to the coaxial cable detector; further connected to the data transceiver system based on wireless transmission. 2. as claimed in claim 1, based on the method for the combined monitoring of slopes based on wireless transmission in stages, it is characterized in that: the data acquisition module, wireless transmission module, data processing and analysis module, terminal module of the data transceiver system based on wireless transmission All are built-in replaceable rechargeable batteries, no power supply equipment is required, and the terminal module can be a computer terminal or a mobile phone terminal. 3. The method for combined monitoring of slopes based on wireless transmission in stages according to claim 1, wherein the wireless transmission module of the data transceiver system based on wireless transmission can be a 5G wireless module, a 4G wireless module or a Wi- Fi wireless module. 4. The method for the combined monitoring of slopes based on wireless transmission in stages according to claim 1, wherein: the movable lifting platform device is composed of a semicircular track and a lifting platform; the semicircular track , consisting of an inner half rail and an outer half rail, bolt caps are set equidistantly on the center line of the inner and outer half rails to realize the movement and fixation of the lifting platform; the lifting platform is a manual lifting platform, and symmetrical rollers are arranged on both sides of the bottom of the lifting platform There are bolt holes in the shaft and the middle, which are installed on the semicircular track, and the fixing bolts of the measuring robot are set on the table to realize the fixing of the measuring robot. 5. The method for the combined monitoring of slopes based on wireless transmission in stages as claimed in claim 1, characterized in that: the improved measuring robot monitoring method realizes the all-round monitoring of slope displacement, and refers to the measuring robot adopted as having The high-precision and durable TM30 measuring robot is installed on the top and bottom of the slope respectively on the movable lifting platform as two reference points, named J01 and J02; further simultaneous top-down and bottom-down Ordinary circular prisms are symmetrically arranged in an equilateral triangle as observation points, forming a rectangular omnidirectional monitoring network as a whole; further using the high-precision spatial positioning technology of the TM30 measuring robot to determine its reference point and coordinates; further separating the measuring robot data storage system Wired connection to the measurement robot data acquisition sub-module; further control the TM30 measurement robot to perform 5-10 automatic patrol observations on each monitoring point by manually setting parameters, and obtain 3D observation data and corresponding images; further transfer the data and corresponding images To the separately connected measurement robot data acquisition sub-module; further complete the follow-up data sending and receiving and monitoring. 6. the method for the combined monitoring of slope based on wireless transmission in stages as claimed in claim 1, is characterized in that: described improved TDR monitoring method realizes the all-round monitoring of slope displacement, refers to at first needing to wait for the construction of slope protective piles When drilling, drill synchronously at a position 1m-2m away from the protective pile, and place the TDR coaxial cable in the drill hole; further connect the TDR coaxial cable to the coaxial cable tester, and the coaxial cable tester is used as the signal source , send out stepping voltage pulses to transmit through the coaxial cable, and reflect the pulse signal reflected from the coaxial cable at the same time; further connect the TDR coaxial cable data acquisition sub-module to the coaxial cable tester, and test the coaxial cable The cable tester plays a controlling role, recording and storing the pulse signal reflected from the coaxial cable; it is further equipped with a multiplexer to monitor multiple points at the same time; it further completes subsequent data transmission and monitoring. 7. as claimed in claim 5 based on the method for the combined monitoring of slopes in stages based on wireless transmission, it is characterized in that: the whole constitutes a similar rectangular monitoring network, which refers to first roughly measuring the lateral width of the top of the slope and the bottom of the slope respectively, as the upper and lower sides. The base of an equilateral triangle is recorded as upper side 1 and lower side 1; the two bases are further divided into n segments at an equal distance of 1m-1.5m to form n-1 equal points and two vertices; further n-1 The bisection point and the two vertices are used as the placement point of the prism and marked; further, the positions of the other four sides are determined based on the two bases of the upper and lower equilateral triangles, which are recorded as upper side 2, lower side 2, upper side 3, and lower side 3, and are the same as the two bases. The method is divided and marked; further fix the prism base with threaded holes in the marked position in turn; further install the ordinary circular prism with screws on the base in turn; further by the upper and lower side 1, side 2, side 3 Form two large equilateral triangle monitoring networks, the combination of the two is approximately rectangular as a whole, as two standard surfaces; further according to the characteristics of the slope, carry out the upper and lower standard surface side 2 and side 3 on the slope prone to instability One equal point, two equal point, third equal point...The equidistant arrangement of the prisms on the line connecting the n-1 equal points forms a small equilateral triangle subnet inside the upper and lower standard planes; further, the upper and lower sides 1 Any point on the two vertices of the measurement robot is used as the starting point for the roving observation of the measuring robot; it is further named G01, G02, G03...Gn ² -n from the starting point; further forming the slope top and slope bottom measurement robot around the standard surface side 1 and side 2 and Side 3 1st point, 2nd point, 3rd point...the connection line of n-1 bisecting points forms an S-shaped route search prism as a whole and is similar to a rectangular monitoring network in all directions. 8. The method for combined monitoring of slopes based on wireless transmission in stages according to claim 5, characterized in that: the three-dimensional observation data collected by the measuring robot for 5-10 automatic patrol observations and corresponding Image refers to the three-dimensional coordinates and corresponding displacement and deformation images of each fixed monitoring point when the measuring robot performs 5-10 automatic patrol observations; the completion of subsequent data sending and receiving and monitoring refers to the acquisition and storage of the measuring robot data acquisition sub-module The above-mentioned three-dimensional coordinates and corresponding displacement and deformation images, wherein the three-dimensional coordinates are marked as M1, M2, M3...Mn; further, the collected and stored three-dimensional coordinates and corresponding displacement and deformation images are transmitted to the data processing and analysis module through the wireless transmission module. After processing and analysis by the processing and analysis module, the pairwise difference is obtained as the deformation of the observation point, which is recorded as Δ1=M2-M1, Δ2=M3-M2,...Δn=Mn-Mn-1, and the specific displacement, Deformation diagram: further transmit the processed and analyzed intuitive data reports and specific displacement and deformation diagrams to the terminal module to monitor surface displacement and deformation development, mainly including horizontal displacement, vertical displacement monitoring and crack monitoring. 9. The method for combined monitoring of slopes based on wireless transmission in stages according to claim 6, characterized in that: the recording and storage of the pulse signal reflected from the cable further completes subsequent data sending and receiving and monitoring, referring to coaxial When the cable is deformed due to slope instability such as twisting, bending, disconnection, etc., the characteristic impedance will change accordingly, and the electric pulse signal will also reflect and generate a reflected signal. When the coaxial cable tester receives the reflected signal , transfer the delay, wavelength, range, intensity data and related images of the transmitted signal and reflected signal to the TDR coaxial cable data acquisition sub-module; further transmit the above data and related images to the data processing and analysis module through the wireless transmission module ;Further, the data processing and analysis module analyzes, compares and classifies the data and related images; further obtains clear displacement and deformation diagrams and data reports; further transmits displacement and deformation diagrams and data reports to the terminal module; further judges the coaxial cable The location and type of deformation, so as to judge whether the slope soil in the whole area will deform, mainly monitor the underground displacement, confirm and determine the structural characteristics of the displacement, determine the depth of the potential sliding surface, judge the depth of the main sliding surface, and judge The main sliding direction is used to judge the effect of slope reinforcement engineering. 10. The method for combined monitoring of slopes based on wireless transmission in stages according to claims 1-9, characterized in that: when the reinforcement engineering protective piles were not constructed in the early stage, the improved measuring robot monitoring method was mainly used for monitoring, and the measuring robot was The data acquisition sub-module of the measuring robot is separately connected to the data sending and receiving system based on wireless transmission. The TDR data acquisition sub-module does not work. When the construction of the slope protection pile starts, the improved TDR monitoring method is involved, and the TDR data acquisition sub-module is connected to the wireless transmission-based system. Data transceiver system, followed by combined monitoring.

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