Method for slope phased combination monitoring based on wireless transmission

Abstract

The present application relates to a kind of based on wireless transmission's method for slope staged combination monitoring, belong to slope monitoring technical field.By a set of shared data transceiver system carries out data transceiving, construction starts to the improved measuring robot monitoring method is used when the construction of protective stake starts, when the construction of protective stake, synchronous drilling installation TDR coaxial cable at its side 1m-2m, intervening improved TDR monitoring method, subsequent combination monitoring.The beneficial effects of the present application are that staged combination monitoring is used, climate environmental factors are solved and cost is saved;Data transceiver system based on wireless transmission realizes wireless, remote, real-time, accurate transceiving;Improved measuring robot monitoring method monitors wide coverage and reduces the amount of prism, solves the problem of base point selection cumbersome;Improved TDR monitoring method simplifies construction steps, shortens construction period, and can judge reinforcement engineering effect;High degree of automation, improve monitoring efficiency while reducing manpower and material resources, ensure the safety of monitoring process.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of slope monitoring, and relates to a method for slope phased combined monitoring based on wireless transmission. BACKGROUND

[0002] Timely and accurate monitoring of the slope is a key step for us to analyze the stability of the slope.

[0003] China has complex geological structure, various landforms and large terrain undulations, which brings great challenges to the monitoring of the slope. Meanwhile, the traditional monitoring technology has many defects, specifically, it needs manual data collection, which is labor-intensive, and a large number of slope deformation and instability processes in China occur in mountainous areas, often accompanied by heavy weather such as rainstorms and earthquakes, so when we manually monitor, safety accidents are prone to occur, and the efficiency is low, and the obtained data is also inaccurate. For example, the optical instrument used in the geodetic survey method for surface deformation is easily affected by the environment and climate and terrain conditions, and the cost of the drill hole inclinometer and other instruments and equipment used in the drill hole inclinometer method for deep deformation monitoring is high, and the monitoring period is long.

[0004] Therefore, in order to solve these problems, the research trend at home and abroad has developed towards automation, remote monitoring, high precision, low cost and the like. A batch 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, measurement robot and TDR technology.

[0005] TDR technology is also known as time domain reflectometry, which is an electrical measurement technology for measuring the deformation degree and deformation position of the cable, and was mainly applied in the communication industry in the early stage; the measurement robot is improved on the basis of the total station, which can replace human beings to search, track, identify and accurately obtain distance, angle, three-dimensional coordinates and image information. SUMMARY

[0006] In order to solve the problem of slope monitoring, the traditional manual monitoring method will not only make the monitoring personnel face the danger in the construction and monitoring process, but also has low efficiency, inaccurate data, no real-time data transmission, great influence of bad weather and environment, complex monitoring engineering construction process, long construction period, large consumption of manpower and material resources, high cost, and single monitoring method. Therefore, the application provides a slope phased combined monitoring method based on wireless transmission, which solves the above problems and solves the limitations of the data acquisition, transmission, processing and analysis methods of the traditional monitoring method. A movable lifting platform device is used to adjust the visibility condition of the measuring robot and lay a rectangular-like omnidirectional monitoring network, so as to solve the problems of difficult point selection and incomplete monitoring network coverage. At the same time, the installation mode of the TDR coaxial cable solves the problem that the traditional monitoring method cannot timely judge the reinforcement engineering effect, and also solves the problem of tight construction period to a certain extent.

[0007] The technical scheme adopted by the application is as follows:

[0008] The steps and methods of the slope phased combined monitoring method based on wireless transmission are as follows:

[0009] First, a complete and improved measuring robot monitoring method and an improved TDR monitoring method based on wireless transmission data transmission system are set up;

[0010] The improved measuring robot monitoring method is a method for searching the target prism on the slope surface rectangular-like monitoring network by adjusting the visibility condition of the full-automatic total station through the setting of a simple device, automatically collecting and recording monitoring data through the self-provided data storage system, and then connecting the wireless transmission data transmission system to realize the full-aspect monitoring of the slope displacement.

[0011] The improved TDR monitoring method is a kind of remote electronic measurement method, which is performed synchronously with the construction of the protection pile by burying the TDR coaxial cable at a distance of 1m-2m from the protection pile. The TDR coaxial cable serves as a sensor, the coaxial cable tester sends an electric pulse and reads and records the relative impedance change data of the entire coaxial cable length, then a multiplexer is equipped to monitor multiple points at the same time, and then the wireless transmission data transmission system is connected to realize the full-aspect monitoring of the slope displacement.

[0012] The wireless transmission data transmission system includes a data acquisition module, a wireless transmission module, a data processing and analysis module, and a terminal module.

[0013] The data acquisition module includes an improved measuring robot data acquisition sub-module and a TDR coaxial cable data acquisition sub-module.

[0014] The improved measurement robot monitoring method data acquisition submodule and the TDR coaxial cable data acquisition submodule refer to the improved measurement robot data acquisition submodule and the improved measurement robot data storage system being connected by wires separately, the TDR coaxial cable data acquisition submodule and the coaxial cable detector being connected by wires separately. When the improved measurement robot monitoring method and the TDR monitoring method start to work, data acquisition is automatically performed, and the data acquisition module as a whole is stored.

[0015] The wireless transmission module refers to being connected with the data acquisition module and the data processing and analysis module bidirectionally for wireless, real-time, remote and accurate data transmission and reception.

[0016] The data processing and analysis module refers to being connected with the wireless transmission module and the terminal module bidirectionally for processing and analyzing data and related images transmitted by the data acquisition module through the wireless transmission module, and further transmitting the processed and analyzed data and related images to the terminal module.

[0017] The data processing and analysis module refers to being connected with the wireless transmission module and the terminal module bidirectionally for processing and analyzing data and related images transmitted by the data acquisition module through the wireless transmission module, and further transmitting the processed and analyzed data and related images to the terminal module.

[0018] The ground surface displacement mainly includes horizontal displacement, vertical displacement and cracks, and the underground displacement and deformation mainly include sliding surface depth and main sliding direction.

[0019] The terminal module refers to being connected with the data processing and analysis module for receiving various processed and analyzed data and related images transmitted by the data processing and analysis module, and presenting various intuitive data reports and specific slope displacement and deformation graphics to observation personnel.

[0020] 2) Further 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 for stage planning and related layout of the slope combined monitoring in stages. From the beginning of construction to the beginning of the construction of the protection pile, the improved measurement robot monitoring method is used as the main monitoring method, and the improved measurement robot monitoring method is laid out. When the protection pile construction begins, the improved TDR monitoring method is introduced, and the TDR monitoring method is laid out. Further, the improved measurement robot monitoring method and the TDR monitoring method are combined for monitoring.

[0021] The relevant arrangement of the measurement robot monitoring method refers to installing and fixing the movable lifting platform device on the relatively flat section of the slope top and the slope bottom; further installing the measurement robot thereon; further arranging the measurement points to form a full-range observation network; further adjusting the position of the measurement robot so that it can search for each measurement point and fix the measurement robot; and further connecting the data transceiving system based on wireless transmission.

[0022] The relevant arrangement of the TDR monitoring method refers to drilling a hole 1m-2m away from the protective pile when drilling a hole for the protective pile construction; further installing the TDR coaxial cable; further performing cement mortar pouring to tightly combine the surrounding rock and the TDR coaxial cable; further connecting the cable detector; and further connecting the data transceiving system based on wireless transmission.

[0023] Further, the data acquisition module, the wireless transmission module, the data processing and analysis module, and the terminal module of the data transceiving system based on wireless transmission are all built-in replaceable rechargeable batteries, and do not need power supply equipment, and the terminal module can be a computer terminal and a mobile phone terminal.

[0024] Further, the wireless transmission module can be a 5G wireless module, a 4G wireless module, or a Wi-Fi wireless module.

[0025] Further, the movable lifting platform device is composed of a semicircular track and a lifting platform; the semicircular track is composed of an inner semitrack and an outer semitrack, bolt caps are arranged on the inner and outer semitrack midlines at equal distances to realize the movement and fixation of the lifting platform; the lifting platform is a manual lifting platform, symmetric rollers are arranged on both sides of the bottom of the lifting platform, a bolt hole is arranged in the middle, the lifting platform is installed on the semicircular track, a measurement robot fixing bolt is arranged on the platform surface to realize the fixation of the measurement robot.

[0026] Further, the improved measurement robot monitoring method realizes all-around monitoring of slope displacement, which means that the measurement robot used is a TM30 measurement robot with high precision and strong durability, one on a movable lifting platform at the top of the slope and one at the bottom of the slope as two reference points, named J01 and J02; further, ordinary circular prisms are symmetrically arranged in a regular triangle form from top to bottom and from bottom to top as observation points, forming a rectangular all-around monitoring network; further, the high-precision spatial positioning technology of the TM30 measurement robot is used to determine the reference points and coordinates; further, the measurement robot data storage system is connected to the measurement robot data acquisition submodule; further, the TM30 measurement robot is controlled by manually setting parameters to automatically patrol and observe each monitoring point 5-10 times, obtain three-dimensional observation data and corresponding images; further, the data and corresponding images are transferred to the separately connected measurement robot data acquisition submodule; further, subsequent data transmission and monitoring are completed.

[0027] Further, the improved TDR monitoring method realizes all-around monitoring of slope displacement, which means that first, when the slope protection pile is drilled, a hole is drilled at a distance of 1-2 m from the protection pile, and a TDR coaxial cable is placed in the hole; further, the TDR coaxial cable is connected to the cable tester, which serves as a signal source, transmits step voltage pulses through the cable, and reflects the pulse signals reflected from the cable; further, the TDR coaxial cable data acquisition submodule is connected to the cable tester, which controls the cable tester, records and stores the pulse signals reflected from the cable; further, a multiplexer is provided to monitor multiple points simultaneously; further, subsequent data transmission and monitoring are completed.

[0028] Further, the overall structure is similar to a rectangular monitoring network, which means that the horizontal width of the top and bottom of the slope is first measured approximately as the base of the upper and lower isosceles triangles, denoted as upper side 1 and lower side 1. Further, the two base lines are divided into n segments at equal intervals of 1 m-1.5 m, forming n-1 equal points and two vertices. Further, the n-1 equal points and two vertices are used as prism placement points and marked. Further, the positions of the other four sides are determined based on the two base lines of the upper and lower isosceles triangles, denoted as upper side 2, lower side 2, upper side 3, and lower side 3, and marked in the same way. Further, the prism bases with threaded holes are fixed in the marked point positions in turn. Further, the ordinary circular prisms with screws are installed on the bases in turn. Further, the upper and lower sides 1, sides 2, and sides 3 form two large isosceles triangles, which are combined to form a rectangle as two standard surfaces. Further, according to the characteristics of the slope, the prisms on the upper and lower standard surface sides 2 and sides 3 are arranged at equal intervals at the one-eighth, two-eighth, three-eighth, …, n-1-eighth points of the connecting lines, forming small isosceles triangle subnets inside the upper and lower standard surfaces. Further, any point of the two vertices of the upper and lower sides 1 is taken as the starting point of the robot patrol observation. Further, the starting point is named G01, G02, G03, …, Gn in turn. 2 Further, the measurement robot forms an overall full-coverage similar rectangular monitoring network by searching for prisms in an S-shaped route around the one-eighth, two-eighth, three-eighth, …, n-1-eighth points of the connecting lines of the standard surface sides 1 and sides 2 and sides 3.

[0029] Further, the three-dimensional observation data and corresponding images collected by the measurement robot during 5-10 automatic patrol observations of each monitoring point are the three-dimensional coordinates and corresponding displacement and deformation images of each fixed monitoring point during each 5-10 automatic patrol observations by the measurement robot. The subsequent data transmission and monitoring are completed by the measurement robot data acquisition submodule to acquire and store the above-mentioned three-dimensional coordinates and corresponding displacement and deformation images, denoted as M1, M2, M3, …, Mn. Further, the acquired 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 data processing and analysis module, the difference between two values is obtained as the deformation of the observation point, denoted as Δ1=M2-M1, Δ2=M3-M2, …, Δn=Mn-Mn-1, and the specific displacement and deformation images are classified. Further, the processed and analyzed intuitive data reports and specific displacement and deformation images are transmitted to the terminal module to monitor the development of ground displacement and deformation, mainly including horizontal displacement, vertical displacement monitoring, and crack monitoring.

[0030] Further, the pulse signal reflected from the cable is recorded and stored, and further completing subsequent data transmission and monitoring refers to that when the coaxial cable is deformed such as twisting, bending, breaking and the like due to slope instability, the characteristic impedance will change, the electric pulse signal will also be reflected and a reflected signal will be generated, when the TDR tester receives the reflected signal, the time delay, wavelength, range and intensity data of the transmitted signal and the reflected signal and the related image are stored to the TDR coaxial cable data acquisition submodule; the above data is further transmitted to the data processing and analysis module through the wireless transmission module; the data processing and analysis module further analyzes and compares the data transmitted to it through the wireless transmission module, and classifies to obtain clear displacement and deformation graphs and data reports; the displacement and deformation graphs and data reports are further transmitted to the terminal module; the position and deformation type of the coaxial cable deformation are further judged, so that whether the slope soil body in the whole region will be deformed is judged, the underground displacement relative to the stable stratum is mainly monitored, the structural features of the displacement occurring are confirmed and determined, the depth of the potential sliding surface is determined, the depth of the main sliding surface is judged, the main sliding direction is judged, and the effect of the slope reinforcement engineering is judged.

[0031] Further, the improved measurement robot monitoring method is mainly used for monitoring during the construction of the reinforcement engineering protection pile in the early stage, the measurement robot is connected with the data transmission system based on wireless transmission through the measurement robot data acquisition submodule, the TDR data acquisition submodule does not work, and the TDR monitoring method is intervened when the slope protection pile starts to be constructed, and the data transmission system based on wireless transmission is connected through the TDR data acquisition submodule.

[0032] The beneficial effects of the present application are as follows:

[0033] The application discloses a data transceiving system based on wireless transmission, effectively solves the data transceiving problem in combination monitoring of different monitoring modes, guarantees the accuracy and timeliness of data, realizes wireless remote transmission, makes the monitoring result be presented to the observer in an intuitive report and graph, reduces the workload of the monitoring personnel, and simultaneously adopts phased combination monitoring, adopts the improved measuring robot monitoring method to monitor in the initial stage without reinforcing engineering protection pile construction, can guarantee the safety of the construction process and the monitoring process, simultaneously adopts the self-top-to-bottom and self-bottom-to-top simultaneous equilateral triangle form symmetrical arrangement of observation points, is simple in design and data processing, has a wide coverage of the monitoring network to the slope, effectively reduces the number of prisms, saves the cost, simultaneously installs a simple movable lifting platform device to adjust the sight condition of the measuring robot, solves the point selection problem, drills a hole to install a TDR coaxial cable 1-2m away from the protection pile when the protection pile is formed, adopts the improved TDR monitoring method, combines the two for monitoring, simplifies the construction steps, shortens the construction period, has certain monitoring effect on the protection pile construction, can judge the reinforcing engineering effect in time, and is rectified; simultaneously, the improved TDR monitoring method and the improved measuring robot monitoring method are combined for monitoring, the advantages and disadvantages of the two are combined, the disadvantages are made up, the monitoring problem influenced by the bad weather and climate is solved, the automation degree is high, 24-hour unmanned observation can be realized, the safety of the construction process and the monitoring process is guaranteed, and the cost is effectively saved. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 It is the whole flow chart of the application;

[0035] Figure 2 It is the schematic diagram of the data transceiving system based on wireless transmission;

[0036] Figure 3 It is the schematic diagram of the improved measuring robot monitoring method for slope monitoring network four-partition;

[0037] Figure 4 It is the schematic diagram of the improved measuring robot monitoring method for slope monitoring observation base point arrangement;

[0038] Figure 5 It is the monitoring principle and arrangement schematic diagram of the improved TDR monitoring method;

[0039] Figure 6 It is the plane schematic diagram of the movable lifting platform device;

[0040] Figure 7 It is the combination monitoring schematic diagram;

[0041] Figure 8 It is the elevation view of the Nanmengxi super-large bridge;

[0042] Figure 9 Figure 1 is a front view of the main tower pile foundation and protective pile of the Nannengxi Bridge;

[0043] Figure 10 Figure 1 is a front view of the main tower pile foundation and protective pile of the Nannengxi Bridge;

[0044] Figure 11 Figure 1 is a front view of the main tower pile foundation and protective pile of the Nannengxi Bridge;

[0045] Figure 12 Figure 1 is a front view of the main tower pile foundation and protective pile of the Nannengxi Bridge;

[0046] Figure 13 Figure 1 is a front view of the main tower pile foundation and protective pile of the Nannengxi Bridge;

[0047] Figure 14 Figure 1 is a front view of the main tower pile foundation and protective pile of the Nannengxi Bridge.

[0048] In the figure, 1 represents a circle of prism layout points; 2 represents a lower edge 1; 3 represents a lower edge 2; 4 represents a lower edge 3; 5 represents a standard small equilateral triangle sub-network in a plane; 6 represents an upper edge 1; 7 represents an upper edge 2; 8 represents an upper edge 3; 9 represents a coaxial cable detector; 10 represents a TDR coaxial cable; 11 represents a protective pile; 12 represents a semicircular sliding rail; 13 represents a lifting platform fixing bolt; 14 represents a manual lifting platform; 15 represents a measuring robot fixing bolt; 16 represents a 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 represent the embedding positions of the 16 displacement piles respectively; and SP1, SP2, SP3, SP4, SP5, SP6, SP7, SP8, and SP9 represent the installation positions of the 9 inclinometers respectively. DETAILED DESCRIPTION

[0049] In order to better explain the present application and facilitate understanding, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings:

[0050] The embodiment takes the Nannengxi Bridge as an example. The Nannengxi Bridge is located about 1.7 km upstream of the existing S311 provincial road Nannengxi Bridge, is a control project of the whole line, is a 2x30m+(160m+360m+160m)+6x40m double-tower double-surface prestressed concrete cable-stayed bridge, has a bridge length of 987.5 m, has a main tower height of 244.5 m / 253.5 m, has a main span of 360 m, and the front view of the Nannengxi Bridge is shown in Figure 1. Figure 8 .

[0051] Because the No. 4 pier of the Nannengxi Bridge is located in the anti-sliding section of the accumulation body, the size of the pile cap is large and the main tower is high, in order to ensure the safety of the main project during construction and during operation, protective piles are arranged on the upper and lower edges of the pile cap. The specific design is as follows:

[0052] (1) A row of embedded slope protection piles (designed anti-sliding force 500KN / m) is set 6m below the lower edge of pier #4. The piles are 25m long, 1.8m in diameter, and 2m apart, with a total of 28 piles. A 1.8×1.5m cap beam is set on the top of the piles for connection.

[0053] (2) Sixteen square 2.5m×3m anti-slide piles are installed at 1.1m above the upper edge of Pier 4. The piles are 32-36m long and 5m apart. A 3m×1.5m cap beam is installed on the top of the piles for connection.

[0054] (3) The No. 4 main tower is supported by 30 rock-socketed piles with a diameter of 2.8m and a length of 27-30m.

[0055] The side slopes of the square piles are sloped at a ratio of 1:1.25, and the rear slope at a ratio of 1:1.5, with a maximum slope height of 12.1m. The end slope ratio gradually changes from 1:1.25 to 1:1.5. The slopes are protected by frame anchors and vegetation. A drainage ditch is installed outside the slope line. Two rows of inclined drainage holes are installed on the slope, with a horizontal spacing of 5m and a vertical spacing of 4m. A temporary drainage ditch is installed at the bottom of the pile cap, which will later be converted into a blind drainage ditch. See the elevation drawings of the No. 4 main tower pile foundation and protective piles. Figure 9 .

[0056] The underground works of this project have been completed and the results are quite good. The specific reasons for this success are analyzed as follows:

[0057] (1) Exploration: A comprehensive exploration was conducted on topography, lithology, hydrogeology, and regional seismic parameters, and all laws, regulations, and mandatory engineering construction standards were strictly followed. A complete, detailed, and high-quality exploration quality report was compiled, providing a fundamental guarantee for subsequent construction.

[0058] (2) Construction Design: The construction of this underground project was scientifically designed in strict accordance with geological exploration data and the construction unit's functional requirements, and strictly adhered to relevant national laws and regulations and mandatory engineering construction standards. The specific construction sequence was as follows: First, the intercepting ditch around the upper excavation face of the No. 4 main pier was constructed, and surface monitoring points were set up; then, the lower and upper edge support piles of the No. 4 pier were constructed; the foundation earthwork of the pier cap was further excavated, and drainage around the pier cap was constructed; then, the main pier pile foundation was constructed; and finally, after the pier cap construction was completed, the gap behind the pier was backfilled. The designed construction sequence was scientific and reasonable, and a complete schedule was prepared and strictly followed, effectively saving the construction period and ensuring the smooth progress of construction.

[0059] (3) Construction process: The procurement of materials is strictly in accordance with the construction drawing, construction organization design, and the total plan of the main material consumption of the manual hole digging pile project prepared by the person in charge of the special construction scheme, which lists the name, specification, quality, quantity of the required materials, and other requirements stipulated in the contract file and supply agreement, and strictly implements the order, processing contract and technical standard for material acceptance. This method ensures the quality of the materials, thereby ensuring the quality of the project; for the equipment used in the construction process, strictly classify, regularly maintain and inspect in accordance with the construction specifications and standards; for pile foundation construction, there is a scientific and rigorous construction technology, and strictly in accordance with the design drawing and calculation requirements during construction, and the combination of instrument monitoring and patrol inspection is adopted for on-site monitoring method, which can timely find out the construction problems and rectify them, to ensure the quality of construction; including blasting construction, reinforcement cage manufacturing and installation, concrete construction, etc. Strictly in accordance with the construction specifications and design requirements. Provides substantial protection for the success of the project.

[0060] (4) Monitoring engineering: It has a perfect monitoring system, which can adjust the construction process in time according to the monitoring effect, reduce the construction error, and ensure the smooth progress of the construction process. For surface deformation monitoring, total station is used for horizontal displacement monitoring, and level is used for vertical deformation monitoring. Marking post, ruler or crack meter is used to observe the development of surface cracks. For underground displacement monitoring, inclinometer is used to monitor deep soil displacement, monitor the deformation trend of the slope, determine the depth of the potential sliding surface, and determine the main sliding direction.

[0061] In order to highlight the purpose, technical scheme and beneficial effects of the present application, the system scheme and specific advantages of the 4# main pier accumulation body slope monitoring project of Nannengxi super large bridge are described as follows:

[0062] The monitoring of the accumulation body of the 4# main pier of Nannengxi super large bridge includes construction period monitoring, prevention and control effect monitoring and operation period monitoring. The surface displacement monitoring is mainly adopted during the construction period, and deep hole displacement monitoring is adopted when necessary, so as to correct the design with the slope deformation data, guide the construction, ensure the construction safety, and test the engineering effect. The operation period monitoring includes surface displacement monitoring, deep layer horizontal displacement monitoring of slope and pile body, underground water level monitoring, etc. The prevention and control effect monitoring is combined with the construction period and operation period monitoring. The slope profile of the 4# main pier accumulation body of Nannengxi super large bridge is shown in Figure 10 .

[0063] For the slope monitoring of Nannengxi super large bridge, for surface deformation monitoring, traditional total station is used for horizontal displacement monitoring, and level is used for vertical deformation monitoring. Marking post, ruler or crack meter is used to observe the development of surface cracks. For underground displacement monitoring, inclinometer is used to monitor deep soil displacement, monitor the deformation trend of the slope, determine the depth of the potential sliding surface, and determine the main sliding direction. The number of observation mark arrangement table is shown in Table 1, and the monitoring diagram is shown inFigure 11 , Figure 11 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, GC-16 are 16 displacement pile embedding positions; SP1, SP2, SP3, SP4, SP5, SP6, SP7, SP8, SP9 are 9 inclinometer installation positions.

[0064] Table 1 Observation mark arrangement quantity table

[0065]

[0066] The specific construction steps of the monitoring project are as follows:

[0067] (1) For the observation pile embedding:

[0068] The natural ground displacement observation pile outside the trench top adopts C15 reinforced concrete precast pile; the observation pile in the middle of the slope, platform, and slope toe can be embedded with reinforced concrete precast pile or steel drill observation pile. In the soil slope section, the deep embedded concrete pile is used as the observation pile, and in the stone slope, a 20cm square mark stone (observation point) can be made on the stable rock surface, and the observation point should be embedded on the top surface of the retaining wall and other reinforcement facilities. The observation point is made of not less than φ16 steel, the top is ground into a hemisphere, and the cross is engraved in the middle.

[0069] C15 reinforced concrete precast piles are embedded on the natural slope outside the trench top, the cross-sectional size of the pile is 15cmX15cm square, the length is not less than 1.5m, and a semicircular stainless steel wear-resistant measuring head is pre-buried on the top of the pile. Ensure that the observation pile is embedded stably. Steel drill observation piles are set at the slope platform and slope toe, and the embedded depth should not be less than 30cm. The top of the steel drill should be engraved with a "cross" and painted with anti-rust red paint.

[0070] The monitoring instrument should be selected to adopt high-precision total station with precision ≤1°, and the monitoring instrument of this project is 1 traditional total station, which has been calibrated and qualified. The measurement is observed by angle intersection method.

[0071] (2) For the installation of inclinometer tube:

[0072] ① Accurate positioning. The inclinometer guide pipe is embedded at the platform slope toe position.

[0073] ② Drill a hole at the selected position, the hole diameter is preferably greater than the outer diameter of the inclinometer guide pipe by 40mm, and the verticality deviation of the hole is not greater than 1 degree; the hole depth reaches the design requirement.

[0074] ③ When connecting the pipe, make sure that the guide groove is strictly aligned and not twisted.

[0075] (4) The bottom of the inclinometer casing should be equipped with a bottom cover, and the bottom cover and the connections of the inclinometer casing should be sealed to prevent mud and sundries from entering the casing.

[0076] (5) The burying process is as follows: the inclinometer casing with the bottom cover is placed into the borehole, the casing is connected with the pipe joint, the length of the reserved section is determined, then the casing is lowered into the hole while being riveted and sealed, and attention should be paid to making the pair of guide slots in the casing approach the main direction of the expected displacement.

[0077] (6) The gap between the inclinometer casing and the hole wall can be backfilled with medium-coarse sand.

[0078] (7) After the burying is completed, the relevant data of the inclinometer casing should be recorded in the burying record table in a timely manner. The main contents of the record table include: project name, instrument model, manufacturer, inclinometer hole number, hole depth, hole opening elevation, hole bottom elevation, burying location, burying method, guide slot direction, inclinometer casing specification, burying schematic diagram, main burying personnel, burying date, etc.

[0079] (8) After the inclinometer casing is buried, the initial value can be established after a period of stabilization.

[0080] The monitoring period is not less than two years from the excavation of the slope body to the completion of the operation, or it can be extended according to the deformation of the slope body. The monitoring time for prevention and control effect is not less than one year after the completion of the treatment project and the operation of the highway.

[0081] The frequency of monitoring is as follows:

[0082] a. Surface displacement monitoring 2-3 times / week, 1 time / day during deformation, and several times / day during severe deformation;

[0083] b. Underground displacement monitoring 1-2 times / month, 1-2 times / week during deformation, and 1 time / day during severe deformation.

[0084] The monitoring result graphs of some observation piles are shown in Figure 12 , and the monitoring result graphs of the inclinometer casing (deep horizontal displacement of measuring point 1 and measuring point 2) are shown in Figure 13 , 14 .

[0085] From the above, the disadvantages of the monitoring project of the Nannengxi Grand Bridge are as follows:

[0086] (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 environment, and the selection and arrangement of points are difficult due to the limited visibility conditions;

[0087] (2) The installation and burying construction steps of the inclinometer casing and the observation pile are complicated and have large engineering quantities, and the technical content is high, which seriously affects the construction period;

[0088] (3) the inclinometer tube and the observation pile need a large number of and cannot be reused, thus the cost is high and not economic;

[0089] (4) the monitoring method is independent, the data collection, processing and analysis process is complicated, and is mostly manual operation, thus leading to a large workload and not having timeliness and accuracy;

[0090] (5) in the whole monitoring process, a large number of manual operation is needed, and the manual operation is all for relevant technical personnel, the manual monitoring frequency is also high, thus time and labor are consumed, the cost is increased, and the safety of the monitoring process is not conducive;

[0091] Thus, based on the above several disadvantages of the Nanmengxi super-large bridge monitoring project, the method of the present application can be introduced to carry out all-weather slope monitoring based on the wireless transmission of the slope phased combination monitoring method, and the specific implementation steps are as follows:

[0092] As shown in Figure 2 , the present embodiment first sets up a complete and improved measurement robot monitoring method and an improved TDR monitoring method based on a wireless transmission data transceiving system.

[0093] The improved measurement robot monitoring method in the present embodiment refers to searching for the target prism on the slope surface rectangular monitoring network by setting a simple device to adjust the visibility condition of the full-automatic total station, automatically collecting and recording the monitoring data by the self-provided data storage system, and then connecting the wireless transmission data transceiving system to transceive the monitoring data, so as to realize the full-aspect monitoring of the slope displacement; the improved TDR monitoring method is a kind of remote electronic measurement method, which is buried at a distance of 1m-2m from the protection pile and is synchronized with the protection pile construction, the TDR coaxial cable is used as a sensor, the coaxial cable tester sends an electric pulse and measures and records the relative impedance change data of the whole coaxial cable length, then a multiplexer is equipped to monitor multiple points at the same time, and then the wireless transmission data transceiving system is connected to transceive the monitoring data, so as to realize the full-aspect monitoring of the slope displacement;

[0094] The data receiving and transmitting system based on wireless transmission in the embodiment comprises a data acquisition module, a wireless transmission module, a data processing and analysis module, and a terminal module. The data acquisition module in the embodiment comprises an improved measurement robot data acquisition submodule and a TDR coaxial cable data acquisition submodule. The improved measurement robot data acquisition submodule and the TDR coaxial cable data acquisition submodule are separately connected to the improved measurement robot data storage system and the coaxial cable detector by wires. When the improved measurement robot and the TDR technology start to work, data acquisition is automatically performed, and the data is stored in the data acquisition module as a whole. The wireless transmission module is bidirectionally connected to the data acquisition module and the data processing and analysis module to wirelessly and remotely receive and transmit data. The data processing and analysis module is bidirectionally connected to the wireless transmission module and the terminal module to receive data and related images transmitted from the data acquisition module via the wireless transmission module and to process and analyze the data and related images. The processed and analyzed data and related images are transmitted to the terminal module. The data processing and analysis module processes and analyzes three-dimensional coordinate data and related images for judging surface displacement and deformation, and deformation data and related images of the TDR coaxial cable for judging underground displacement and deformation. After classification, comparison, and analysis, data reports and corresponding displacement and deformation graphs are accurately output in a short time. Surface displacement mainly includes horizontal displacement, vertical displacement, and cracks. 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 graphs transmitted from the data processing and analysis module. Specific slope displacement and deformation graphs and various intuitive data reports are presented to observers.

[0095] The data acquisition module, the wireless transmission module, the data processing and analysis module, and the terminal module of the measurement data receiving and transmitting system based on wireless transmission in the embodiment are all built-in replaceable rechargeable batteries, and do not require power supply equipment. The terminal module can be a computer terminal and a mobile phone terminal. The wireless transmission module can be a 5G wireless module, a 4G wireless module, or a Wi-Fi wireless module.

[0096] Specifically, the improved measurement robot monitoring method is used to monitor the construction of the reinforcement engineering protection pile in the early stage. Only the measurement robot data storage system is connected to the measurement robot data acquisition submodule by wire. The TDR data acquisition submodule is in an inactive state. When the protection pile starts construction, the TDR monitoring method is intervened. The TDR data acquisition submodule is connected to the coaxial cable detector, and starts to work, and then completes the subsequent data acquisition, processing analysis and transmission. The purpose is to solve the disadvantages of the traditional combined monitoring method, such as the disadvantages of the Nanmengxi super bridge monitoring process (4), so that the data acquisition, analysis and processing have continuity and real-time accuracy, and the disadvantages of manual analysis and processing of data results are solved. The data obtained by the two monitoring methods are reflected to the monitoring personnel in the form of intuitive results obtained after analysis and processing;

[0097] In this embodiment, different monitoring measures are taken according to the construction characteristics of different stages of the slope. From the beginning of construction to the beginning of the construction of the protection pile, the improved measurement robot monitoring method is used as the main monitoring method. The arrangement steps are as follows:

[0098] As shown in Figure 6 , the 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. The semicircular track is composed of an inner semitrack and an outer semitrack. Bolts are arranged on the centerline of the inner and outer semitracks at equal distances to realize the movement and fixation of the lifting platform. The manual lifting platform is provided with symmetrical rollers on both sides of the bottom and a bolt hole in the middle. It is installed on the semicircular track. The platform is provided with full-automatic total station instrument fixing bolts to realize the movement of the lifting platform and the fixation of the measurement robot.

[0099] Further, a TM30 measurement robot with high precision and strong durability is installed on the movable lifting platform at the top and bottom of the slope respectively as two reference points.

[0100] As shown in Figure 4 , further, the position of the measurement robot is adjusted so that it can search for each measurement point and fix the TM30 measurement robot, named J01 and J02.

[0101] Specifically, the measurement robot is installed on the movable lifting platform and can move 180 degrees to adjust the visibility condition. The purpose is to solve the problem of difficult point selection and distribution when the traditional total station instrument is used for horizontal displacement monitoring, the level is used for vertical deformation monitoring, and the surface displacement monitoring is limited by the visibility condition, such as the disadvantages of the Nanmengxi super bridge monitoring process (1).

[0102] As shown in Figure 3As shown, in this embodiment, the lateral widths of the slope top and bottom need to be roughly measured respectively, serving as the bases of the upper and lower equilateral triangles, denoted as upper side 1 and lower side 1; further, the two bases are divided into n segments at equal intervals of 1m-1.5m, forming n-1 equal division points and two vertices; further, the n-1 equal division points and two vertices are used as prism placement points and marked; further, the positions of the other four sides are determined based on the two bases of the upper and lower equilateral triangles, denoted as upper side 2, lower side 2, upper side 3, and lower side 3, and divided and marked in the same way as the two bases; further, the prism base with threaded holes is fixed sequentially at the marked points; further, the prism base with screws is... Ordinary circular prisms are sequentially installed on the base; further, two large equilateral triangle monitoring networks are formed by upper and lower sides 1, 2, and 3, which together approximate a rectangle and serve as two standard planes; further, based on the slope characteristics, prisms are equidistantly arranged along the lines connecting the first, second, third, ... n-1 division points on sides 2 and 3 of the upper and lower standard planes at easily unstable locations on the slope, forming small equilateral triangle sub-networks within the upper and lower standard planes; further, any point between the two vertices of upper and lower sides 1 is used as the starting point for the measurement robot's roving observation; further, starting from the starting point, they are sequentially named G01, G02, G03... Gn. 2 -n; Further, the slope top and slope bottom measurement robots are connected around the standard surface edge 1, edge 2 and edge 3, the first division point, the second division point, the third division point...n-1 division point, forming an S-shaped route search prism overall all-round similar rectangular monitoring network;

[0103] Specifically, the installation of prisms effectively replaces the traditional monitoring method of constructing and arranging observation piles. These prisms are reusable and form a continuous observation network, enabling the surveying robot to continuously search for the prisms at each monitoring point, thus completing the monitoring. The small equilateral triangular subnets within the standard surface are optional, depending on the specific characteristics of the slope, with priority given to locations prone to instability. The aim is to reduce the number of prisms used, saving costs while forming a wide-coverage monitoring network. This ensures the continuity of the surveying robot's prism search, simplifies subsequent data processing, shortens the construction period, and guarantees safety during both the construction and monitoring processes.

[0104] Furthermore, the high-precision spatial positioning technology of the TM30 measuring robot is used to determine its reference point and coordinates. The TM30 measuring robot is controlled to perform 5-10 automatic patrol observations at each monitoring point by manually setting parameters. Then, the data acquisition submodule of the measuring robot is connected to start 5-10 automatic patrol monitorings.

[0105] Furthermore, the monitoring data is received, sent, processed, and analyzed.

[0106] The steps and principles for receiving, processing, and analyzing monitoring data in this embodiment are as follows:

[0107] The measurement robot data acquisition submodule collects and stores three-dimensional coordinate data and related images used to determine ground surface displacement and deformation obtained by 5-10 times of automatic patrol observation of the monitoring point by the measurement robot;

[0108] Further, the measurement robot data acquisition submodule transmits the collected and stored three-dimensional coordinate data and related images to the data processing and analysis module through the wireless transmission module;

[0109] Further, the data processing and analysis module analyzes and processes the received three-dimensional coordinate data and related images, mainly including three-dimensional coordinate data and related images used to determine ground surface displacement and deformation, obtains the difference between each two as the deformation of the observation point, denoted as Δ1=M2-M1, Δ2=M3-M2, … Δn=Mn-Mn-1, and classifies the displacement and deformation graph, and further accurately outputs the data report and displacement and deformation graph in a short time;

[0110] Further, the terminal module receives various processed and analyzed data reports and displacement and deformation graphs from the data processing and analysis module, and further presents the ground surface displacement and deformation development status, mainly including various intuitive data reports and displacement and deformation graphs of horizontal displacement, vertical displacement and cracks to the observation personnel.

[0111] Specifically, according to the data processing and analysis of the data processing and analysis module, the deformation amount is obtained by simply subtracting the three-dimensional coordinates between two points, and the related displacement and deformation graph can also be obtained. The purpose is to solve the problem of large amount of manual data analysis and processing in traditional ground surface displacement monitoring such as horizontal displacement monitoring by total station and vertical deformation monitoring by level instrument, such as the disadvantage (4) in the monitoring process of Nanmengxi super large bridge;

[0112] In this embodiment, when the protective pile is constructed, the improved TDR monitoring device is intervened, and the specific steps are as follows:

[0113] In this embodiment, first, a hole is drilled at a position 1-2 m away from the protective pile when the slope protective pile is constructed, and the TDR coaxial cable is placed in the hole;

[0114] Further, the TDR coaxial cable is connected to the cable tester;

[0115] Further, the TDR coaxial cable data acquisition submodule is connected to the cable tester;

[0116] Further, a multiplexer is provided to simultaneously monitor multiple points;

[0117] Further, a data transceiver system based on wireless transmission is connected to start monitoring;

[0118] Specifically, the installation process of the traditional underground monitoring inclinometer pipe is replaced by the simple step of burying the TDR coaxial cable. The purpose is to solve the problem of monitoring underground displacement by traditional buried inclinometer, and to effectively shorten the construction period and reduce the cost. The monitoring effect on the construction of the protective pile is also certain, and the data collection is real-time, which can quickly judge the reinforcement engineering effect;

[0119] In this embodiment, the monitoring data analysis and processing principle and steps of the TDR monitoring device are as follows:

[0120] Firstly, when the slope instability occurs deformation such as distortion, bending, and disconnection, the characteristic impedance will change, and the electric pulse signal will also reflect and produce a reflected signal. When the TDR tester receives the reflected signal, the delay, wavelength, range, and intensity data of the transmitted signal and the reflected signal and the related images are stored to the TDR coaxial cable data acquisition submodule, and then transmitted to the data processing and analysis module through the wireless transmission module.

[0121] Further, the data processing and analysis module processes and analyzes the data and related images to obtain clear and intuitive displacement and deformation graphs and data reports, and further transmits the processed and analyzed displacement and deformation graphs and data reports to the terminal module.

[0122] Further, the terminal module analyzes the displacement and deformation graphs and data reports transmitted from the data processing and analysis module to determine the position and type of deformation of the coaxial cable, so as to determine whether the slope soil in the whole region will deform, confirm and determine the structure feature that is undergoing displacement, determine the depth of the potential sliding surface, determine the depth of the main sliding surface, determine the main sliding direction, and determine the effect of the slope reinforcement engineering. As shown in Figure 5 ;

[0123] As shown in Figure 7 , in this embodiment, the improved TDR monitoring device has less influence on the environment and climate, lower cost, and can observe the underground rock mass displacement of the stable stratum for a long period of time and judge the effect of slope reinforcement. It is complementary to the measurement robot used to monitor the ground displacement and deformation development, mainly including horizontal displacement, vertical displacement monitoring and crack monitoring, and performs 24-hour real-time observation to ensure the timeliness of the monitoring and the safety of the reinforcement effect.

[0124] Specifically, since then, the improved measurement robot and the TDR monitoring device have carried out all-weather combined monitoring, and the two share a wireless transmission-based data transceiver system to perform real-time transceiving, analysis and processing, and feedback of the ground and underground monitoring data. The purpose is to solve the influence of harsh climate and environment on the monitoring project, realize the synchronous transceiving of the ground and underground displacement monitoring data, and improve the degree of automation.

Claims

1. A method for phased combined monitoring of slopes based on wireless transmission, characterized in that: 1) First, set up a complete and improved measurement robot monitoring method and an improved TDR monitoring method, using a wireless transmission-based data transceiver system. The improved measurement robot monitoring method refers to the method of searching for target prisms on a rectangular monitoring network on the slope surface by setting up a simple device to adjust the line-of-sight conditions of a fully automatic total station, automatically collecting and recording monitoring data through a built-in data storage system, and then connecting to a wireless data transceiver system for monitoring data transmission and reception, thereby realizing a comprehensive monitoring method for slope displacement. The improved TDR monitoring method is a remote electronic measurement method. It involves burying a TDR coaxial cable 1m-2m away from the protective pile and carrying it out simultaneously with the construction of the protective pile. The TDR coaxial cable acts as a sensor. The coaxial cable tester sends electrical pulses and reads and records the relative impedance change data along the entire length of the coaxial cable. Then, it is equipped with a multiplexer to monitor multiple points simultaneously. Finally, it is connected to a wireless data transceiver system to transmit and receive monitoring data, thereby realizing a method for comprehensive monitoring of slope displacement. The wireless transmission-based data transceiver system includes a data acquisition module, a wireless transmission module, a data processing and analysis module, and a terminal module. The data acquisition module includes a measurement robot data acquisition submodule and a TDR coaxial cable data acquisition submodule; The measurement robot data acquisition submodule and the TDR coaxial cable data acquisition submodule refer to the measurement robot data acquisition submodule being separately wired to the improved measurement robot data storage system, and the TDR coaxial cable data acquisition submodule being separately wired to the coaxial cable detector. When the improved measurement robot monitoring method and the improved TDR monitoring method start working, data is automatically acquired and stored as a whole in the data acquisition module. The wireless transmission module is bidirectionally connected to the data acquisition module and the data processing and analysis module, and is used for wireless, real-time, remote, and accurate transmission and reception of data. The data processing and analysis module is bidirectionally connected to the wireless transmission module and the terminal module. It is used to process and analyze the data and related images transmitted to it by the data acquisition module via the wireless transmission module; and further transmits the processed and analyzed data and related images to the terminal module. The data processing and analysis module performs data and related image processing and analysis, which means classifying, comparing and analyzing the three-dimensional coordinate data and related images used to determine surface displacement and deformation, and the deformation data and related images of the TDR coaxial cable used to determine underground displacement and deformation, and then accurately outputting data reports and corresponding displacement and deformation diagrams in a short time. The terminal module refers to the module 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 present various intuitive data reports and specific slope displacement and deformation graphics to the observers. 2) Further, based on the characteristics of each construction stage of the slope, a phased planning and related deployment of combined monitoring of the slope using improved surveying robot monitoring methods and improved TDR monitoring methods will be carried out. From the start of construction to the start of protective pile construction, the improved surveying robot monitoring method will be used as the main monitoring means, and the improved surveying robot monitoring method will be further deployed. When the protective pile construction begins, the improved TDR monitoring method will be introduced, and the improved TDR monitoring method will be further deployed. Combined monitoring of the improved surveying robot monitoring method and the improved TDR monitoring method will then be carried out. The aforementioned deployment of the improved measurement robot monitoring method refers to selecting relatively flat areas at the top and bottom of the slope to install and fix a movable lifting platform device; further installing a measurement robot on it; further deploying measurement points to form a comprehensive observation network; further adjusting the position of the measurement robot so that it can search for each measurement point and fixing the measurement robot; and further connecting it to a wireless data transceiver system. The aforementioned deployment of the improved TDR monitoring method refers to simultaneously drilling a hole 1m-2m away from the protective pile during the drilling for the protective pile construction; further installing a TDR coaxial cable; further grouting with cement mortar to tightly bond the surrounding soil and rock with the TDR coaxial cable; further connecting a coaxial cable detector; and further connecting a data transceiver system based on wireless transmission.

2. The method for phased combined monitoring of slopes based on wireless transmission as described in claim 1, characterized in that: The data acquisition module, wireless transmission module, data processing and analysis module, and terminal module of the wireless transmission-based data transceiver system all have built-in replaceable rechargeable batteries and do not require power supply equipment. The terminal module can be a computer or a mobile phone.

3. The method for phased combined monitoring of slopes based on wireless transmission as described in claim 1, characterized in that: The wireless transmission module of the wireless transmission-based data transceiver system can be a 5G wireless module, a 4G wireless module, or a Wi-Fi wireless module.

4. The method for phased combined monitoring of slopes based on wireless transmission as described in claim 1, characterized in that: The movable lifting platform device consists of a semi-circular track and a lifting platform. The semi-circular track is composed of an inner half-track and an outer half-track. Bolt caps are set at equal intervals on the center lines of the inner and outer half-tracks to realize the movement and fixation of the lifting platform. The lifting platform is a manual lifting platform. Symmetrical rollers are provided on both sides of the bottom of the lifting platform and bolt holes are provided in the middle. It is installed on the semi-circular track, and the platform surface is provided with measuring robot fixing bolts to realize the fixation of the measuring robot.

5. The method for phased combined monitoring of slopes based on wireless transmission as described in claim 1, characterized in that: The improved measurement robot monitoring method achieves comprehensive monitoring of slope displacement. It utilizes the high-precision and robust TM30 measurement robot, with one robot installed at the top and bottom of the slope on a movable lifting platform as two reference points, named J01 and J02. Furthermore, ordinary circular prisms are symmetrically arranged in an equilateral triangle pattern from top to bottom and bottom to top as observation points, forming a rectangular, all-around monitoring network. The high-precision spatial positioning technology of the TM30 measurement robot is used to determine the reference points and coordinates. The measurement robot's data storage system is separately wired to the measurement robot's data acquisition submodule. Manual parameter settings control the TM30 measurement robot to perform 5-10 automatic roving observations at each monitoring point, obtaining three-dimensional observation data and corresponding images. The data and corresponding images are then transferred to the separately connected measurement robot data acquisition submodule, completing subsequent data transmission and monitoring.

6. The method for phased combined monitoring of slopes based on wireless transmission as described in claim 1, characterized in that: The improved TDR monitoring method achieves comprehensive monitoring of slope displacement. First, during the drilling of slope protection piles, a hole is drilled simultaneously at a distance of 1-2 meters from the piles, and a TDR coaxial cable is placed in the hole. Next, the TDR coaxial cable is connected to a coaxial cable tester, which acts as a signal source, emitting stepped voltage pulses that are transmitted through the coaxial cable, while simultaneously reflecting the pulse signals reflected back from the cable. Then, a TDR coaxial cable data acquisition submodule is connected to the coaxial cable tester, controlling the tester and recording and storing the pulse signals reflected from the cable. Finally, a multiplexer is added to enable simultaneous monitoring of multiple points. Subsequent data transmission and reception and monitoring are then completed.

7. The method for phased combined monitoring of slopes based on wireless transmission as described in claim 5, characterized in that: the overall structure forms a rectangular all-round monitoring network, which means firstly, the transverse widths of the slope top and bottom are roughly measured respectively, as the bases of the upper and lower equilateral triangles, denoted as upper side 1 and lower side 1; further, the two bases are divided into n segments at equal intervals of 1m-1.5m, forming n-1 equal division points and two vertices; further, the n-1 equal division points and two vertices are used as prism placement points and marked; further, the positions of the other four sides are determined based on the two bases of the upper and lower equilateral triangles, denoted as upper side 2, lower side 2, upper side 3, and lower side 3, and divided and marked in the same way as the two bases; further, prism bases with threaded holes are fixed sequentially at the marked points; further, ordinary circular prisms with screws are sequentially installed on the bases; further... The first step involves two large equilateral triangle monitoring networks composed of upper and lower sides 1, 2, and 3. These two networks, when combined, approximate a rectangle and serve as two standard surfaces. Further, based on the slope characteristics, prisms are equidistantly arranged along the lines connecting the first, second, third, ..., n-1 division points on sides 2 and 3 of the upper and lower standard surfaces at locations prone to slope instability. This forms a smaller equilateral triangle sub-network within the upper and lower standard surfaces. Any point on either of the two vertices of upper and lower sides 1 is used as the starting point for the measurement robot's roving observations. Starting from this point, these points are sequentially named G01, G02, G03...Gn2-n. Finally, a comprehensive, rectangular-like monitoring network is formed, with the measurement robot circling the first, second, third, ..., n-1 division points of sides 1, 2, and 3 of the standard surfaces, forming an S-shaped route to search for the prisms.

8. The method for phased combined monitoring of slopes based on wireless transmission as described in claim 5, characterized in that: The measurement robot collects three-dimensional observation data and corresponding images from 5-10 automatic patrol observations at each monitoring point. This refers to the measurement robot performing 5-10 automatic patrol observations of each fixed monitoring point, collecting the three-dimensional coordinates and corresponding displacement and deformation images each time. The subsequent data transmission and monitoring refers to the measurement robot's data acquisition submodule collecting and storing the aforementioned three-dimensional coordinates and corresponding displacement and deformation images, where the three-dimensional coordinates are denoted as M1, M2, M3…Mn. The collected and stored three-dimensional coordinates and corresponding displacement and deformation images are then transmitted wirelessly to the data processing and analysis module. After processing and analysis, the data processing and analysis module obtains the pairwise differences as the deformation amount of the observation point, denoted as Δ1=M2-M1, Δ2=M3-M2,…Δn=Mn-Mn-1, and classifies them into specific displacement and deformation diagrams. Finally, the processed and analyzed intuitive data reports and specific displacement and deformation diagrams are transmitted to the terminal module to monitor the development of surface displacement and deformation, mainly including horizontal displacement, vertical displacement monitoring, and crack monitoring.

9. The method for phased combined monitoring of slopes based on wireless transmission as described in claim 6, characterized in that: The recording and storage of pulse signals reflected from the coaxial cable further facilitates subsequent data transmission and monitoring. When the coaxial cable deforms due to slope instability, such as twisting, bending, or breaking, its characteristic impedance changes, causing the electrical pulse signal to be reflected. Upon receiving the reflected signal, the coaxial cable tester transfers the data on the delay, wavelength, range, and intensity of the transmitted and reflected signals, along with related images, to the TDR coaxial cable data acquisition submodule. This data and related images are then transmitted wirelessly to the data processing and analysis module. The data processing and analysis module analyzes, compares, and categorizes the data and related images, resulting in clear displacement and deformation diagrams and data reports. These are then transmitted to the terminal module to determine the location and type of deformation in the coaxial cable, thereby assessing whether the slope soil in the entire area will deform. The main focus is on monitoring underground displacement, confirming and identifying the structural characteristics of the displacement, determining the potential sliding surface depth, determining the main sliding surface depth, determining the main sliding direction, and assessing the effectiveness of the slope reinforcement project.

10. The method for phased combined monitoring of slopes based on wireless transmission as described in any one of claims 1-9, characterized in that: Before the reinforcement of the slope protection piles was carried out, the improved measurement robot monitoring method was mainly used for monitoring. The measurement robot was connected to the wireless data transceiver system through the measurement robot data acquisition submodule. The TDR data acquisition submodule was not working. When the slope protection piles were started, the improved TDR monitoring method was introduced. The TDR data acquisition submodule was connected to the wireless data transceiver system, and then combined monitoring was carried out.

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