CN118209052A - Rapid-arrangement temporary landslide monitoring system and monitoring method - Google Patents
Rapid-arrangement temporary landslide monitoring system and monitoring method Download PDFInfo
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- CN118209052A CN118209052A CN202410613006.XA CN202410613006A CN118209052A CN 118209052 A CN118209052 A CN 118209052A CN 202410613006 A CN202410613006 A CN 202410613006A CN 118209052 A CN118209052 A CN 118209052A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/10—Alarms for ensuring the safety of persons responsive to calamitous events, e.g. tornados or earthquakes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B31/00—Predictive alarm systems characterised by extrapolation or other computation using updated historic data
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Abstract
A monitoring system and a monitoring method for rapidly arranging temporary landslide comprise a displacement monitoring device, a remote acquisition device and a monitoring center; the displacement monitoring device is fixedly arranged on the landslide body through unmanned aerial vehicle air drop; the remote acquisition device is fixedly arranged far away from the landslide body, remotely acquires the space accumulated displacement and the displacement rate of the displacement monitoring device, wirelessly transmits monitoring data to the monitoring center, realizes quantitative remote monitoring of the space accumulated displacement and the displacement rate of the landslide body, and makes early warning judgment in the early stage of landslide occurrence; the rapid-arrangement temporary landslide monitoring system has the advantages of being capable of being arranged remotely, rapid and convenient, capable of being monitored quantitatively, and low in cost, and provides an ideal technical means for temporary landslide monitoring, so that reliable monitoring of the temporary landslide is realized; meanwhile, the monitoring system can quantitatively monitor the small displacement change of the landslide body, has high monitoring precision, can send out early warning at the early stage of landslide occurrence, and provides sufficient time for personnel to evacuate safely.
Description
Technical Field
The invention relates to the technical field of landslide hazard monitoring, in particular to a temporary landslide monitoring system capable of being rapidly arranged and a monitoring method.
Background
According to the published data of the general public inspection publication of the comprehensive risk of the first national natural disasters, the number of the landslide hidden danger points is huge in 13.2 ten thousand places of the landslide hidden danger points, and if all landslide long-term monitoring systems are installed, the system is obviously a huge project, so that most of the landslide hidden danger points are still in a monitoring blank state at present.
In addition, the existing researches on landslide monitoring systems are mostly multi-sensor comprehensive long-term monitoring systems based on the Internet of things technology, such as the landslide disaster monitoring early warning technology research based on the Internet of things of China geological university, which discloses a landslide long-term monitoring system based on multi-type sensors and by utilizing a low-power consumption self-adaptive wireless networking technology, but the system has the advantages of complex structure, long construction period, high construction operation and maintenance cost and obviously unrealistic large-scale popularization and construction, so that the system is applied to landslide hidden danger points needing to be monitored for a long time.
However, in southwest mountain areas, especially in rainy seasons in summer, the probability of landslide occurrence of an original relatively stable landslide body is greatly increased along with the increase of the moisture content in the mountain, so temporary landslide monitoring is needed, and a multi-sensor comprehensive long-term monitoring system is deployed and implemented on the landslide body to perform landslide early warning monitoring, so that the landslide monitoring system has no feasibility from the aspects of safety and construction period of constructors; particularly, in certain special sections, constructors cannot reach the system at all, and a multi-sensor comprehensive long-term monitoring system cannot be deployed and implemented on a landslide body;
In the existing temporary landslide monitoring, monitoring personnel are mostly used for monitoring the local collapse or the whole large displacement condition of a landslide body through telescope long-distance observation or long-distance shooting observation through erecting a camera, and early warning judgment is made for the occurrence of the landslide; however, monitoring personnel can not quantitatively observe the tiny displacement of the landslide body in the early stage of landslide through remote observation of a telescope or remote shooting observation through a camera, that is to say, when the monitoring personnel or the camera monitors that the landslide body has local slumping or large displacement of the whole body, the landslide occurrence time is very close, even enough time can not be provided for person evacuation, so that the existing temporary landslide monitoring has huge defects, and improvement is needed.
Disclosure of Invention
In order to overcome the defects in the background technology, the invention discloses a rapid-arrangement temporary landslide monitoring system and a monitoring method, wherein an unmanned aerial vehicle is used for air-drop arrangement of a displacement monitoring device on a landslide body to be monitored, and a remote acquisition device arranged at a long distance is used for acquiring the space displacement of the displacement monitoring device, and quantitatively monitoring the space accumulated displacement quantity and the displacement change rate of the landslide body, so that early warning judgment is made in the early stage of landslide occurrence; the rapid-arrangement temporary landslide monitoring system has the advantages of being capable of being arranged remotely, rapid and convenient, capable of being monitored quantitatively and low in cost, and an ideal technical means is provided for temporary landslide monitoring.
In order to achieve the aim of the invention, the invention adopts the following technical scheme: a rapid-arrangement temporary landslide monitoring system comprises a displacement monitoring device and a remote acquisition device; the displacement monitoring device is fixedly arranged on the landslide body through unmanned aerial vehicle air drop; the remote acquisition device is fixedly arranged far away from the landslide body, and is used for remotely acquiring the space accumulated displacement and the displacement rate of the displacement monitoring device, analyzing whether the space accumulated displacement and the displacement rate exceed a preset threshold value and judging whether to send out landslide early warning so as to realize remote early warning monitoring of the landslide body; the displacement monitoring device in the rapid arrangement temporary landslide monitoring system realizes rapid arrangement of the landslide body through the unmanned aerial vehicle air drop, so that personnel are not required to reach the landslide body, the rapid arrangement temporary landslide monitoring system has the advantages of long-distance arrangement, rapidness, convenience and safety in implementation, can be rapidly arranged and implemented when the landslide body needing temporary monitoring is found in rainy seasons, and improves the response speed of temporary landslide monitoring; meanwhile, the rapid-arrangement temporary landslide monitoring system quantitatively monitors the tiny displacement change of the landslide body, has high monitoring precision, can send out early warning at the earlier stage of landslide occurrence, and provides sufficient time for personnel safety evacuation.
Further, an elastic connector is fixedly arranged outside the displacement monitoring device, and a three-jaw anchor hook is fixedly arranged at the outer end of the elastic connector; the outside of the displacement monitoring device is also wrapped with a fragile shell, and the fragile shell is made of glass material and is subjected to tempering treatment, so that the fragile shell can release internal compressive stress to burst when being impacted by foreign objects, and the fragile shell becomes a plurality of small fragments, so that the wrapped displacement monitoring device is released; after the displacement monitoring device provided with the three-jaw anchor hook is arranged in the fragile shell, the volume of the displacement monitoring device is reduced, so that the displacement monitoring device is more convenient to store, transport and put in; micro-solid powder is filled between the displacement monitoring device and the inner cavity wall of the fragile shell; when the displacement monitoring device is arranged by the unmanned aerial vehicle in an air-drop manner, the outside of the fragile shell collides with the surface of the landslide surface to burst, or the three-jaw anchor hook collides with the inner wall of the fragile shell to burst, the micro solid powder and the displacement monitoring device are released from the fragile shell, and in the release process of the displacement monitoring device, the elastic connector drives the three-jaw anchor hook at the end part of the elastic connector to rapidly spread under the action of elastic force; in the release process of the micro solid powder, under the combined action of high-speed movement impact, fragile shell burst impact and rapid unfolding of the three-jaw anchor hook, the micro solid powder is thrown into the air to form huge dust, so that people at a far distance can observe the drop point position of the displacement monitoring device conveniently; in addition, in the collision process of the fragile shell and the landslide surface, the micro-solid powder positioned between the displacement monitoring device and the inner cavity wall of the fragile shell can also play a role in buffering, so that the displacement monitoring device is prevented from being damaged; in addition, the fragile shell absorbs the kinetic energy of falling of the displacement monitoring device in the process of impact burst, so that the displacement monitoring device is slowed down to be damaged by the impact of the displacement monitoring device, and meanwhile, the displacement monitoring device is prevented from rebounding to be separated from the surface of the landslide body when being impacted with the surface of the landslide body, so that the displacement monitoring device can roll downwards along the surface of the landslide body after being released, and further more three-jaw anchor hooks can hook rocks or plant stems on the surface of the landslide body; in addition, in the process of rolling downwards along the surface of the landslide body, only the three-jaw anchor hooks at the end parts of the elastic connecting bodies are in contact with the surface of the landslide body, and the elastic connecting bodies absorb vibration in a buffering manner, so that the displacement monitoring devices are prevented from being damaged in the process of rolling downwards along the surface of the landslide body.
Further, three fluke flukes are arranged on the three fluke flukes, and a plurality of barbs are arranged on the inner side surface and the outer side surface of each fluke flukes so as to increase the probability that the three flukes fluke hook rocks or plant stems on the surface of the landslide body; the three-jaw anchor hook is made of carbon steel, and is subjected to quenching treatment, and the end part of the top surface of the anchor hook is subjected to grinding processing to form a sharp edge; the three-jaw fluke after quenching treatment has extremely high hardness, and the sharp edge of the top surface end part of the fluke is added, so that when the edge of the top surface end part of the fluke impacts the inner wall of the fragile shell, the fragile shell can be burst, and the situation that the outside of the fragile shell cannot burst due to no hard impact when the displacement monitoring device falls on the surface of a softer landslide body is avoided.
Further, the displacement monitoring device is a rapid arrangement target, and the rapid arrangement target comprises a target ball, an elastic connector and a three-jaw anchor hook; the surface of the target ball is coated with high-reflection coating for improving the reflectivity of the ranging laser, so that a great difference is formed between the reflection of the ranging laser by the target ball and the reflection of the ranging laser by the surrounding landslide surface, and the difference is used for determining that the ranging laser irradiates the target ball when the displacement monitor measures the distance of the target ball; the elastic connectors are fixedly arranged outside the target ball, and three-jaw anchor hooks are fixedly arranged at the outer ends of the elastic connectors; the rapid arrangement target is arranged in a fragile shell, and micro solid powder is filled in the fragile shell to form a fuming target;
The remote acquisition device is a displacement monitor, and the displacement monitor comprises a laser scanner and a laser range finder; the laser scanner uses laser emitted by the laser range finder to perform horizontal and vertical scanning, so that the laser emitted by the laser range finder irradiates on a measuring target ball; the laser range finder is used for measuring the distance between the displacement monitor and the target ball;
the configuration of the rapid target arrangement and the displacement monitor is used for the situation that the vegetation on the surface of the landslide surface is less and the rapid target arrangement can be smoothly irradiated by the ranging laser of the displacement monitor; the rapid arrangement targets are not recycled after air drop arrangement, and the cost of the rapid arrangement targets is low, so that the use cost of the configuration is low.
Further, the displacement monitor also comprises a laser detector and a semi-transparent semi-reflecting mirror; the semi-transparent semi-reflecting mirror is used for dividing the ranging return laser into two paths, one path returns to the laser range finder for ranging, the other path reflects to the laser detector and is used for determining that laser emitted by the laser range finder irradiates on the target ball when the laser range finder measures the distance, so that the accuracy of the measuring result of the laser range finder is ensured.
Preferably, the displacement monitoring device is a rapid placement RTK mobile station, the rapid placement RTK mobile station comprises a mobile target shell A and a mobile target shell B, RTK mobile station, and the RTK mobile station is fixedly arranged in a closed space formed by the mobile target shell A and the mobile target shell B; buffer materials are arranged between the RTK mobile station and the inner walls of the mobile target shell A and the mobile target shell B; a plurality of elastic connectors are fixedly arranged on the movable target shell A and the movable target shell B, and three-jaw anchor hooks are fixedly arranged at the outer ends of the elastic connectors; the remote acquisition device is an RTK reference station; the RTK mobile station is in wireless communication connection with the RTK reference station; the configuration of the RTK mobile station and the RTK reference station is used for the situation that vegetation on the surface of a landslide surface is more; when vegetation on the surface of the landslide body is more, the rapid-arrangement targets arranged by air drop are shielded by the vegetation, and laser emitted by the laser range finder cannot irradiate on the target ball, so that the configuration of the rapid-arrangement targets and the displacement monitor cannot work normally; however, the RTK mobile station and the RTK reference station are adopted to transmit data through wireless communication, so that the data is less influenced by vegetation shielding, and normal operation can be maintained; however, the RTK mobile station has high cost, and the RTK mobile station cannot be recovered after air drop arrangement, so that the use cost of the configuration is relatively high.
Further, the RTK mobile station is provided with a vibration switch; when the RTK mobile station is not thrown, the RTK mobile station is in a power-off state so as to save the consumption of a built-in power supply; when the RTK mobile station is thrown on a landslide body by an unmanned aerial vehicle, the RTK mobile station is impacted, the impact enables a vibration switch to act, a built-in power supply of the RTK mobile station is turned on, and the RTK mobile station is started to enter a working state; in the starting process of the RTK mobile station, an initialization program is automatically executed, and working parameters of the RTK mobile station are set; the RTK mobile station establishes a wireless communication connection with the RTK reference station after being started.
Further, when the quick-setting target or the quick-setting RTK mobile station is arranged in the fragile shell, the elastic connector is in a bending state, and a protection plate is arranged between the three-jaw anchor hook and the target ball or the movable target shell A and the movable target shell B, and the protection plate prevents the three-jaw anchor hook from damaging the surface of the quick-setting target or the shell of the quick-setting RTK mobile station when the quick-setting target or the quick-setting RTK mobile station collides with the surface of a landslide body.
A landslide monitoring method based on a rapid arrangement temporary landslide monitoring system is characterized by comprising the following steps: the method comprises the following steps:
s1, erecting a displacement monitor: the displacement monitor is fixedly arranged on the ground far away from the landslide body through a tripod;
S2, rapidly arranging target settings: the fuming target falls on the landslide body through unmanned aerial vehicle air drop; the fragile shell bursts under high-speed impact to release micro-solid powder and rapidly arrange targets; in the process of restoring the elastic connector to the original state, throwing micro solid powder to generate dust, and remotely observing the position of the fuming target falling on the landslide body; the elastic connecting body on the rapid arrangement target is restored, and the impact on the rapid arrangement target in the downward rolling along the landslide body is absorbed by the elasticity of the elastic connecting body; in the process that the rapid arrangement target rolls downwards along the landslide body, the three-jaw anchor hooks the rock and the plant stems to fix the rapid arrangement target on the landslide body;
S3, rapidly arranging first measurement of target positions: according to the observed smoke dust, aligning a displacement monitor to the landing position of the rapid arrangement target on the landslide body, and detecting the initial relative spatial position of the rapid arrangement target;
S4, continuously measuring the rapid arrangement target positions: the displacement monitor detects the real-time relative spatial position of the rapid arrangement target at a set frequency, and calculates the space accumulated displacement and the displacement rate of the rapid arrangement target according to the change of the real-time relative spatial position of the rapid arrangement target relative to the initial relative spatial position; judging the development trend of the landslide body according to the space accumulated displacement and displacement rate of the rapidly arranged targets; and when the space accumulated displacement or displacement rate of the rapidly arranged targets exceeds a set threshold value, timely giving out landslide early warning.
A landslide monitoring method based on a rapid arrangement temporary landslide monitoring system is characterized by comprising the following steps: the method comprises the following steps:
s1, erection of an RTK reference station: the RTK reference station is fixedly arranged at a high point position far away from the landslide body through a tripod; opening a power supply of an RTK reference station, setting related working parameters, and finishing erection of the RTK reference station;
S2, rapidly arranging RTK mobile station settings: the fuming RTK mobile station falls on the landslide body through unmanned aerial vehicle air drop; bursting the fragile shell by high-speed impact to release micro-solid powder and rapidly arranging the RTK mobile station; in the process of restoring the elastic connector to the original state, throwing micro solid powder to generate dust, and remotely observing the position of the rapidly arranged RTK mobile station falling on the landslide body; the elastic connector on the rapidly arranged RTK mobile station is restored, and the elastic connector is utilized to absorb the impact on the rapidly arranged RTK mobile station in the downward rolling process along the landslide body; the three-jaw anchor hooks hook rocks and plant stems in the process that the quick-arrangement RTK mobile station rolls downwards along a landslide body, so that the quick-arrangement RTK mobile station is fixed on the landslide body;
S3, rapidly arranging first acquisition of spatial coordinates of the RTK mobile station: the RTK reference station is in wireless communication connection with the quick-arrangement RTK mobile station, the RTK reference station transmits the self space coordinates to the quick-arrangement RTK mobile station, the quick-arrangement RTK mobile station carries out real-time differential operation on the self space coordinates and the received RTK reference station space coordinates, the self high-precision space coordinates of the quick-arrangement RTK mobile station are calculated, and the quick-arrangement RTK mobile station initial space coordinates are obtained through wireless signals and transmitted back to the RTK reference station;
S4, continuously acquiring the space coordinates of the rapidly arranged RTK mobile station: the RTK reference station collects real-time space coordinates of the rapidly arranged RTK mobile station at a set frequency, and calculates the space accumulated displacement and displacement rate of the rapidly arranged RTK mobile station according to the change of the real-time space coordinates of the rapidly arranged RTK mobile station relative to the initial space coordinates; judging the development trend of the landslide body according to the space accumulated displacement and displacement rate of the rapidly arranged RTK mobile station; and when the space accumulated displacement or displacement rate of the rapidly arranged RTK mobile station exceeds a set threshold value, timely sending out landslide early warning.
Due to the adoption of the technical scheme, the invention has the following beneficial effects: the invention discloses a rapid-arrangement temporary landslide monitoring system, which comprises a displacement monitoring device, a remote acquisition device and a monitoring center, wherein the displacement monitoring device is used for acquiring displacement of a temporary landslide; the displacement monitoring device is fixedly arranged on the landslide body through unmanned aerial vehicle air drop; the remote acquisition device is fixedly arranged far away from the landslide body, remotely acquires the space accumulated displacement and the displacement rate of the displacement monitoring device, wirelessly transmits monitoring data to the monitoring center, and realizes quantitative remote monitoring of the space accumulated displacement and the displacement rate of the landslide body, thereby making early warning judgment on landslide occurrence; the rapid-arrangement temporary landslide monitoring system has the advantages of being capable of being arranged remotely, rapid and convenient, capable of being monitored quantitatively, and low in cost, and provides an ideal technical means for temporary landslide monitoring, so that reliable monitoring of the temporary landslide is realized; meanwhile, the temporary landslide monitoring system is arranged rapidly, small displacement change of the landslide body is monitored through quantitative data, monitoring accuracy is high, early warning can be sent out in the earlier stage of landslide occurrence, and sufficient time is provided for safe evacuation of personnel.
Drawings
FIG. 1 is a schematic diagram of a rapid placement temporary landslide monitoring system implementation;
fig. 2 is a schematic diagram of the working principle of a fast-arrangement temporary landslide monitoring system according to the first embodiment;
FIG. 3 is a schematic view showing the appearance of a rapidly arranged target according to the first embodiment;
FIG. 4 is a schematic view of a rapid placement target structure according to the first embodiment;
FIG. 5 is an enlarged schematic view of the three-jaw fluke;
fig. 6 is a schematic illustration of an exploded view of a fuming target of embodiment one;
fig. 7 is a schematic cross-sectional view of a fuming target according to the first embodiment;
FIG. 8 is a schematic block diagram of a displacement monitor according to the first embodiment;
FIG. 9 is a schematic diagram of an optical path structure of a displacement monitor according to the first embodiment;
fig. 10 is a schematic diagram of the working principle of a fast-arrangement temporary landslide monitoring system according to the second embodiment;
FIG. 11 is a schematic diagram of the appearance of a fast lay out RTK mobile station according to the second embodiment;
Fig. 12 is an exploded view of a fast-deployment RTK mobile station according to the second embodiment.
In the figure: 1. rapidly arranging targets; 1.1, target ball; 1.2, an elastic connector; 1.3, three-jaw flukes; 1.3.1, fluke; 1.4, a central anchor ball; 2. a frangible shell; 3. a micro solid powder; 4. a fuming target; 5. a displacement monitor; 5.1, a laser scanner; 5.1.1, horizontally scanning a vibrating mirror; 5.1.2, vertical scanning galvanometer; 5.2, a laser range finder; 5.3, a laser detector; 5.4, a semi-transparent semi-reflecting mirror; 5.5, a main control board; 6. unmanned plane; 7. a landslide body; 8. rapidly arranging RTK mobile stations; 8.1, moving the target shell A;8.2, moving the target shell B;8.3, RTK mobile station; 8.4, a buffer material; 9. an RTK reference station; 10. and a monitoring center.
Detailed Description
The invention will be explained in more detail by the following examples, the purpose of which is to protect all technical improvements within the scope of the invention.
See fig. 1 of the specification: a rapid-arrangement temporary landslide monitoring system comprises a displacement monitoring device and a remote acquisition device; the displacement monitoring device is fixedly arranged on the landslide body 7 through the unmanned aerial vehicle 6 air drop; the remote acquisition device is fixedly arranged far away from the landslide body 7, and the remote early warning and monitoring of the landslide body 7 are realized by remotely acquiring the space accumulated displacement and the displacement rate of the displacement monitoring device.
Embodiment one:
See fig. 2 of the specification: the rapid arrangement temporary landslide monitoring system comprises a rapid arrangement target 1 and a displacement monitor 5; see figures 3,4, 5 of the description: the rapid arrangement target 1 comprises a target ball 1.1, an elastic connector 1.2, a three-jaw anchor hook 1.3 and a central anchor ball 1.4; the central anchor ball 1.4 is a steel ball, and four hollow round tubes are uniformly distributed on the outer surface of the central anchor ball through welding to form a space configuration similar to that of a tribulus terrestris; the elastic connector 1.2 is a thin steel wire rope, and one end of the elastic connector is fixedly arranged in a hole of the hollow circular tube through bonding; the three-jaw anchor hook 1.3 comprises a conical anchor hook body and anchor hook jaws 1.3.1 uniformly welded on the periphery of the bottom of the anchor hook body, a hollow circular tube is further arranged in the middle of the bottom of the anchor hook body, a plurality of barbs are arranged on the inner side surface and the outer side surface of the anchor hook jaw 1.3.1, the three-jaw anchor hook 1.3 is made of carbon steel, and the top surface of the anchor hook jaw 1.3.1 is ground after quenching treatment to form sharp edges of the edge of the end part; the outer end part of the elastic connector 1.2 is arranged in a hole of a hollow circular tube on the anchor hook body and is fixedly connected with the three-jaw anchor hook 1.3 through bonding; the target ball 1.1 is an epoxy resin ball, the outer surface of the central anchor ball 1.4 is coated by casting through a mould, and the outer surface of the target ball 1.1 is sprayed with a high-reflection coating; preferably, the target ball 1.1 can also be made of EPE foamed plastic material, so that the target ball has good elasticity and is not easy to damage, and meanwhile, the weight of the target ball 1.1 is reduced;
See fig. 6, 7 of the specification: the exterior of the rapid arrangement target 1 is also provided with a fragile shell 2, the fragile shell 2 is a hemispherical shell, and the surface of the fragile shell is provided with a through hole which is made of tempered glass; when the quick-setting target 1 is arranged in the fragile shell 2, firstly bending four elastic connectors 1.2 of the quick-setting target 1 to enable three-jaw anchor hooks 1.3 at the outer ends of the elastic connectors 1.2 to be close to the target ball 1.1, arranging a protection plate between the three-jaw anchor hooks 1.3 and the target ball 1.1, then arranging the quick-setting target 1 in a spherical cavity formed by the two fragile shells 2, and bonding and fixedly connecting the two fragile shells 2; filling micro solid powder 3 such as talcum powder, titanium pigment or cement and the like into the spherical cavity through the through hole of the fragile shell 2, and then blocking the through hole by using a rubber plug to form a fuming target 4;
See fig. 8, 9 of the specification: the displacement monitor 5 comprises a laser scanner 5.1, a laser range finder 5.2, a laser detector 5.3, a semi-transparent semi-reflective mirror 5.4 and a main control board 5.5, wherein the laser scanner 5.1, the laser range finder 5.2 and the laser detector 5.3 are electrically connected with the main control board 5.5, the main control board 5.5 controls the laser scanner 5.1, the laser range finder 5.2 and the laser detector 5.3 to work in a coordinated manner, and simultaneously processes data to obtain the space accumulated displacement and displacement rate of the rapidly arranged target 1; a space accumulated displacement and a displacement rate judgment threshold value are preset in the main control board 5.5; the laser scanner 5.1 comprises a horizontal scanning galvanometer 5.1.1 and a vertical scanning galvanometer 5.1.2, a half mirror 5.4 is arranged between the laser range finder 5.2 and the horizontal scanning galvanometer 5.1.1, the transmissivity of the half mirror 5.4 is 80-90%, and the half mirror 5.4 forms an included angle of 45 degrees with the optical axis direction of the laser range finder 5.2; the laser detector 5.3 is arranged on the side edge of the half mirror 5.4, and the optical axis of the laser detector and the half mirror 5.4 also form an included angle of 45 degrees; the working principle of the displacement monitor 5 is as follows: after passing through the half mirror 5.4, the laser beam emitted by the laser range finder 5.2 irradiates on the horizontal scanning vibrating mirror 5.1.1, irradiates on the vertical scanning vibrating mirror 5.1.2 after being reflected by the horizontal scanning vibrating mirror 5.1.1, and then is reflected by the vertical scanning vibrating mirror 5.1.2 to emit out of the displacement monitor 5; after the laser beam emitted by the displacement monitor 5 irradiates an object, part of the laser returns to the displacement monitor 5 along the path of the original laser beam, when the returned laser meets the half mirror 5.4, one part of the laser passes through the half mirror 5.4 and returns to the laser range finder 5.2, and the other part of the laser is reflected by the half mirror 5.4 and enters the laser detector 5.3; the laser returned to the laser range finder 5.2 is used for measuring the distance between the laser beam irradiated object and the displacement monitor 5, and the laser entering the laser detector 5.3 is used for detecting the intensity of the returned laser; in the ranging process, the horizontal scanning galvanometer 5.1.1 and the vertical scanning galvanometer 5.1.2 swing at set frequency, laser beams are controlled to scan in the horizontal direction and the vertical direction, the laser beams are shot to a far distance to form a large-range laser ranging scanning array surface, when the displacement monitor 5 is approximately aligned with the position of a landing point of the rapid arrangement target 1, the target ball 1.1 can fall into the laser ranging scanning array surface, and therefore the problem that laser alignment of the target ball 1.1 is difficult in the long-distance ranging process is solved; in the process of scanning and ranging by the displacement monitor 5, the laser range finder 5.2 always has a measurement distance output result (the laser range finder 5.2 outputs even if the ranging laser is not irradiated on the target ball 1.1), namely background measurement interference exists, so that the distance of the target ball 1.1 cannot be determined; however, when the laser beam irradiates the target ball 1.1, the reflectivity of the target ball 1.1 is far higher than that of the surface of the landslide body, the laser detector 5.3 can detect that the returned laser intensity has a pulse peak value, so that the laser detector 5.3 can detect the measuring distance of the laser range finder 5.2 at the same time as the returned laser pulse peak value as the distance measuring result of the target ball 1.1, thereby eliminating the background measuring interference of the laser range finder 5.2;
When the target 1 is rapidly arranged and the setting on the landslide body 7 is completed through the unmanned aerial vehicle air drop, the displacement monitor 5 records the initial swing angles of the horizontal scanning vibrating mirror 5.1.1 and the vertical scanning vibrating mirror 5.1.2 at the same time when the initial distance of the target ball 1.1 is measured for the first time; when the real-time distance of the target ball 1.1 is continuously measured at a set frequency, synchronously recording real-time swinging angles of the horizontal scanning vibrating mirror 5.1.1 and the vertical scanning vibrating mirror 5.1.2, and calculating the space accumulated displacement of the target ball 1.1 relative to the initial space position according to the difference value between the real-time swinging angles of the horizontal scanning vibrating mirror 5.1.1 and the vertical scanning vibrating mirror 5.1.2 and the initial swinging angle and the measured real-time distance and the initial distance, so as to obtain the difference value of the two adjacent space accumulated displacement measured at the set frequency, namely the displacement rate; comparing the space accumulated displacement and the displacement rate with a set threshold value, judging the development trend of the landslide body 7, and sending out landslide early warning in time when the space accumulated displacement and the displacement rate exceed the set threshold value;
The following specifically describes a method for calculating the spatial cumulative displacement, taking fig. 2 of the specification as an example:
Assuming that the target ball 1.1 only moves downwards along with the landslide body 7, and does not move transversely; l 0 is the initial distance measured, L n is the real-time distance measured at a certain moment, and alpha is the difference between the real-time swing angle and the initial swing angle of the vertical scanning galvanometer 5.1.2, then the calculation formula of the space accumulated displacement L t is: l t 2=L0 2+Ln 2-2L0*Ln cos (2α);
The displacement rate calculating method comprises the following steps: l r=Lt-Lt-1, wherein L r is a displacement rate, L t is a currently measured spatial cumulative displacement, L t-1 is a previously measured spatial cumulative displacement, and a time interval between L t and L t-1 is one minute;
a landslide monitoring method based on a rapid arrangement temporary landslide monitoring system comprises the following steps:
s1, erecting a displacement monitor 5: the displacement monitor 5 is fixedly arranged on the ground far away from the landslide body 7 through a tripod;
S2, setting a rapid arrangement target 1: the fuming target 4 drops on the landslide body 7 through the unmanned aerial vehicle 6, the fragile shell 2 bursts under high-speed impact, the micro-solid powder 3 and the rapidly arranged target 1 are released, the micro-solid powder 3 generates dust, and the position of the fuming target 4 on the landslide body 7 is conveniently observed in a long distance; the elastic connector 1.2 on the rapid arrangement target 1 is restored, and the elastic connector 1.2 absorbs vibration impact in the process that the rapid arrangement target 1 rolls downwards along the landslide body 7; in the process that the rapid-arrangement target 1 rolls downwards along the landslide body 7, the three-jaw anchor hook 1.3 hooks rocks and plant stems to fix the rapid-arrangement target 1 on the landslide body 7, and when the landslide body 7 slides, the rapid-arrangement target 1 slides synchronously with the landslide body 7;
S3, rapidly arranging first measurement of the position of the target 1: aligning the displacement monitor 5 to rapidly arrange the landing position of the target 1 on the landslide body 7 according to the observed dust emission; starting a displacement monitor 5 to scan and measure the initial distance of a target ball 1.1, the initial swinging angle of a horizontal scanning vibrating mirror 5.1.1 and the initial swinging angle of a vertical scanning vibrating mirror 5.1.2;
S4, continuously measuring the position of the rapid arrangement target 1: the displacement monitor 5 continuously measures the real-time distance of the target ball 1.1, the real-time swinging angle of the horizontal scanning vibrating mirror 5.1.1 and the real-time swinging angle of the vertical scanning vibrating mirror 5.1.2 at intervals of 1 minute in a set period; calculating the space accumulated displacement according to the measured initial distance of the target ball 1.1, the initial swinging angle of the horizontal scanning vibrating mirror 5.1.1 and the initial swinging angle of the vertical scanning vibrating mirror 5.1.2, the real-time distance of the target ball 1.1, the real-time swinging angle of the horizontal scanning vibrating mirror 5.1.1 and the real-time swinging angle of the vertical scanning vibrating mirror 5.1.2; calculating the displacement rate according to the difference value between the current space accumulated displacement and the previous period space accumulated displacement; when the calculated space accumulated displacement or displacement rate exceeds a set threshold value, the displacement monitor 5 sends out an acousto-optic early warning signal; and after the monitoring personnel find that the displacement monitor 5 sends out an acousto-optic early warning signal, the monitoring personnel immediately inform the personnel to evacuate and evacuate.
Embodiment two:
See fig. 10 of the specification: the rapid placement temporary landslide monitoring system comprises a rapid placement RTK mobile station 8, an RTK reference station 9 and a monitoring center 10; see fig. 11, 12 of the specification: the fast placement RTK rover station 8 includes a rover target casing a8.1, a rover target casing B8.2, an RTK rover station 8.3; the movable target shell A8.1 and the movable target shell B8.2 are hemispherical plastic shells, a hollow plastic column is arranged on the outer surface of the movable target shell A8.1, three hollow plastic columns are arranged on the outer surface of the movable target shell B8.2, elastic connectors 1.2 are fixedly arranged in the hollow plastic columns through bonding, and three-jaw anchor hooks 1.3 are fixedly arranged at the outer ends of the elastic connectors 1.2; the RTK mobile station 8.3 is fixedly arranged in an enclosed space formed by the mobile target shell A8.1 and the mobile target shell B8.2 through a buffer material 8.4; the RTK mobile station 8.3 is provided with a vibration switch;
The quick-arrangement RTK mobile station 8 is arranged in a closed space formed by the two fragile shells 2, and micro-solid powder 3 filled with talcum powder, titanium dioxide or cement and the like is filled between the quick-arrangement RTK mobile station 8 and the inner wall of the fragile shells 2 to form a fuming RTK mobile station; when the fuming RTK mobile station drops on the landslide body 7 through the aerial dropping of the unmanned aerial vehicle 6, the fragile shell 2 bursts to release micro-solid powder 3 and rapidly-arranged RTK mobile station 8, and the micro-solid powder 3 generates dust, so that the position of the rapidly-arranged RTK mobile station 8 on the landslide body 7 can be observed in a long distance; the elastic connector 1.2 on the rapidly arranged RTK mobile station 8 is restored, and the elastic connector 1.2 absorbs vibration impact in the process that the rapidly arranged RTK mobile station 8 rolls downwards along the landslide body 7; in the process that the rapidly arranged RTK mobile station 8 rolls downwards along the landslide body 7, the three-jaw anchor hook 1.3 hooks rocks and plant stems to fix the rapidly arranged RTK mobile station 8 on the landslide body 7, and when the landslide body 7 slides, the rapidly arranged RTK mobile station 8 slides synchronously with the landslide body 7; when the RTK mobile station 8 is rapidly arranged and subjected to impact vibration, a vibration switch is made to act, a built-in power supply of the RTK mobile station 8.3 is turned on, and the RTK mobile station 8.3 is started to enter a working state; during the starting process of the RTK mobile station 8.3, an initialization program is automatically executed, and the working parameters of the RTK mobile station 8.3 are set; after the starting of the RTK mobile station 8.3 is completed, a wireless communication connection is established with the RTK reference station 9; a wireless communication connection is established between the RTK reference station 9 and the monitoring center 10.
A landslide monitoring method based on a rapid arrangement temporary landslide monitoring system comprises the following steps:
s1, erection of an RTK reference station 9: the RTK reference station 9 is fixedly arranged at a high point position far away from the landslide body 7 through a tripod; opening a power supply of the RTK reference station 9, setting related working parameters, and finishing erection of the RTK reference station 9; the RTK reference station 9 is erected and connected with the monitoring center 10 in a wireless communication manner; the monitoring center 10 is preset with a space accumulated displacement and a displacement rate judgment threshold;
s2, quickly arranging RTK mobile station 8 settings: the fuming RTK mobile station drops on the landslide body 7 through the unmanned aerial vehicle 6; the fragile shell 2 bursts under high-speed impact, releasing the micro-solid powder 3 and the rapidly arranged RTK mobile station 8; in the process that the quick-arrangement RTK mobile station 8 rolls downwards along the landslide body 7, the three-jaw anchor hook 1.3 is used for fixing the quick-arrangement RTK mobile station 8 on the landslide body 7 by hooking rocks and plant stems; the vibration switch acts to turn on a built-in power supply of the RTK mobile station 8.3, and starts the RTK mobile station 8.3 to enter a working state;
S3, rapidly arranging first acquisition of space coordinates of the RTK mobile station 8: the RTK reference station 9 is in wireless communication connection with the quick-arrangement RTK mobile station 8, the RTK reference station 9 transmits the self space coordinates to the quick-arrangement RTK mobile station 8, the quick-arrangement RTK mobile station 8 carries out real-time differential operation on the self space coordinates and the received space coordinates of the RTK reference station 9, the self high-precision space coordinates of the quick-arrangement RTK mobile station 8 are calculated and transmitted back to the RTK reference station 9 through wireless signals, and the RTK reference station 9 uploads the initial space coordinates of the quick-arrangement RTK mobile station 8 to the monitoring center 10;
S4, continuously acquiring the space coordinates of the rapidly arranged RTK mobile station 8: the RTK reference station 9 collects real-time space coordinates of the rapidly arranged RTK mobile station 8 at a set frequency and uploads the real-time space coordinates to the monitoring center 10; the monitoring center 10 calculates the space accumulated displacement and displacement rate of the quick-arrangement RTK mobile station 8 according to the change of the real-time space coordinates of the quick-arrangement RTK mobile station 8 relative to the initial space coordinates; judging the development trend of the landslide body 7 according to the space accumulated displacement and displacement rate of the rapidly arranged RTK mobile station 8; when the space accumulated displacement or displacement rate of the rapidly arranged RTK mobile station 8 exceeds a set threshold value, timely sending out landslide early warning; after monitoring personnel receive landslide early warning, the monitoring center 10 immediately informs the personnel to evacuate and evacuate.
The invention is not described in detail in the prior art.
Claims (9)
1. A rapidly arranged temporary landslide monitoring system, characterized by: the device comprises a displacement monitoring device and a remote acquisition device; the displacement monitoring device is fixedly arranged on the landslide body (7) through the unmanned aerial vehicle (6) air drop; the remote acquisition device is fixedly arranged far away from the landslide body (7), and the remote acquisition of the space accumulated displacement and the displacement rate of the displacement monitoring device realizes the remote early warning monitoring of the landslide body (7);
An elastic connector (1.2) is fixedly arranged outside the displacement monitoring device, and a three-jaw anchor hook (1.3) is fixedly arranged at the outer end of the elastic connector (1.2); the outside of the displacement monitoring device is also wrapped with a fragile shell (2); the micro solid powder (3) is filled between the displacement monitoring device and the inner cavity wall of the fragile shell (2).
2. The rapid placement temporary landslide monitoring system of claim 1 and wherein: three fluke flukes (1.3.1) are arranged on the three flukes fluke (1.3.3), and a plurality of barbs are arranged on the inner side surface and the outer side surface of the flukes fluke (1.3.1); the edge of the top surface of the anchor fluke (1.3.1) is sharp.
3. The rapid placement temporary landslide monitoring system of claim 2 and wherein: the displacement monitoring device is a rapid arrangement target (1), and the rapid arrangement target (1) comprises a target ball (1.1), an elastic connector (1.2) and a three-jaw anchor hook (1.3); the surface of the target ball (1.1) is coated with a highly reflective coating; the elastic connectors (1.2) are fixedly arranged outside the target ball (1.1), and three-jaw anchor hooks (1.3) are fixedly arranged at the outer ends of the elastic connectors (1.2); the rapid arrangement target (1) is arranged in the fragile shell (2), and the fragile shell (2) is filled with micro solid powder (3) to form a fuming target (4);
the remote acquisition device is a displacement monitor (5), and the displacement monitor (5) comprises a laser scanner (5.1) and a laser range finder (5.2); the laser scanner (5.1) uses laser emitted by the laser range finder (5.2) to perform horizontal and vertical scanning, so that the laser emitted by the laser range finder (5.2) irradiates on the measuring target ball (1.1); wherein the laser distance measuring instrument (5.2) is used for measuring the distance between the displacement monitoring instrument (5) and the target ball (1.1).
4. A rapid placement temporary landslide monitoring system according to claim 3 and wherein: the displacement monitor (5) also comprises a laser detector (5.3) and a semi-transparent semi-reflecting mirror (5.4); the semi-transparent semi-reflecting mirror (5.4) is used for dividing the ranging return laser into two paths, one path returns to the laser range finder (5.2) for ranging, the other path reflects to the laser detector (5.3) and is used for determining that laser emitted by the laser range finder (5.2) irradiates on the target ball (1.1) when the laser range finder (5.2) ranges.
5. The rapid placement temporary landslide monitoring system of claim 2 and wherein: the displacement monitoring device is a rapid-arrangement RTK mobile station (8), the rapid-arrangement RTK mobile station (8) comprises a mobile target shell A (8.1), a mobile target shell B (8.2) and an RTK mobile station (8.3), and the RTK mobile station (8.3) is fixedly arranged in a closed space formed by the mobile target shell A (8.1) and the mobile target shell B (8.2); a buffer material (8.4) is arranged between the RTK mobile station (8.3) and the inner walls of the mobile target shell A (8.1) and the mobile target shell B (8.2); a plurality of elastic connectors (1.2) are fixedly arranged on the movable target shell A (8.1) and the movable target shell B (8.2), and three-jaw anchor hooks (1.3) are fixedly arranged at the outer ends of the elastic connectors (1.2); the remote acquisition device is an RTK reference station (9), and the RTK mobile station (8.3) is in wireless communication connection with the RTK reference station (9).
6. The rapid placement temporary landslide monitoring system of claim 5 and wherein: the RTK mobile station (8.3) is provided with a vibration switch.
7. The rapid placement temporary landslide monitoring system of claim 4 or 6 and wherein: when the quick-arrangement target (1) or the quick-arrangement RTK mobile station (8) is arranged in the fragile shell (2), the elastic connector (1.2) is in a bending state, and a protection plate is arranged between the three-jaw anchor hook (1.3) and the target ball (1.1) or the mobile target shell A (8.1) and the mobile target shell B (8.2).
8. A landslide monitoring method based on the rapid placement temporary landslide monitoring system of claim 4, characterized by: the method comprises the following steps:
s1, erecting a displacement monitor (5): the displacement monitor (5) is fixedly arranged on the ground far away from the landslide body (7) through a tripod;
S2, setting a rapid arrangement target (1): the fuming target (4) falls on a landslide body (7) through the unmanned aerial vehicle (6) in an air-drop manner; the fragile shell (2) is burst by high-speed impact to release micro-solid powder (3) and rapidly arrange the target (1); the rapid arranging target (1) rolls downwards along the landslide body (7), rocks and plant stems are hooked by the three-jaw anchor hooks (1.3), and the rapid arranging target (1) is fixed on the landslide body (7);
S3, rapidly arranging first measurement of the position of the target (1): according to the observed smoke dust, aligning a displacement monitor (5) to the falling position of the rapid arrangement target (1) on the landslide body (7), and detecting the initial relative spatial position of the rapid arrangement target (1);
S4, continuously measuring the position of the rapid arrangement target (1): the displacement monitor (5) continuously detects the real-time relative spatial position of the rapid arrangement target (1) at a set frequency, and calculates the space accumulated displacement and the displacement rate of the rapid arrangement target (1) according to the change of the real-time relative spatial position of the rapid arrangement target (1) relative to the initial relative spatial position; and when the space accumulated displacement or displacement rate of the rapidly arranged targets (1) exceeds a set threshold value, a landslide early warning is sent out.
9. A landslide monitoring method based on the rapid placement temporary landslide monitoring system of claim 6, characterized by: the method comprises the following steps:
s1, erection of an RTK reference station (9): the RTK reference station (9) is fixedly arranged at a high point position far away from the landslide body (7) through a tripod; opening a power supply of the RTK reference station (9), setting related working parameters, and finishing erection of the RTK reference station (9);
s2, rapidly arranging RTK mobile station (8) settings: the fuming RTK mobile station falls on a landslide body (7) through the unmanned aerial vehicle (6); the fragile shell (2) is burst by high-speed impact, releasing the micro-solid powder (3) and rapidly arranging the RTK mobile station (8); the rapid-arrangement RTK mobile station (8) rolls downwards along the landslide body (7), rocks are hooked through a three-jaw anchor hook (1.3), and the rapid-arrangement RTK mobile station (8) is fixed on the landslide body (7);
S3, rapidly arranging first acquisition of spatial coordinates of the RTK mobile station (8): the RTK reference station (9) is in wireless communication connection with the quick-arrangement RTK mobile station (8), the RTK reference station (9) transmits own space coordinates to the quick-arrangement RTK mobile station (8), the quick-arrangement RTK mobile station (8) carries out real-time differential operation on own space coordinates and the received space coordinates of the RTK reference station (9), the high-precision space coordinates of the quick-arrangement RTK mobile station (8) are calculated, and the high-precision space coordinates are transmitted back to the RTK reference station (9) through wireless communication, so that initial space coordinates of the quick-arrangement RTK mobile station (8) are obtained;
S4, continuously acquiring space coordinates of the rapidly arranged RTK mobile station (8): the RTK reference station (9) continuously collects real-time space coordinates of the rapidly arranged RTK mobile station (8) at a set frequency, and calculates the space accumulated displacement and displacement rate of the rapidly arranged RTK mobile station (8) according to the change of the real-time space coordinates of the rapidly arranged RTK mobile station (8) relative to the initial space coordinates; and when the space accumulated displacement or displacement rate of the rapidly arranged RTK mobile station (8) exceeds a set threshold value, timely sending out landslide early warning.
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