Sky-ground integrated cooperative monitoring system for longitudinal reinforcement earth and rockfill dam

Abstract

A longitudinal reinforcement earth and rockfill dam sky-ground integrated cooperative monitoring system comprises a GNSS and UWB monitoring subsystem, an electric linear sliding table, a short message module, a data receiving unit, a data analysis unit, an early warning unit, a water level control mechanism, a detection mechanism, a detection circuit and a time control circuit, the electric linear sliding tables are installed at the two ends of the earth and rockfill dam. A detection head of the water level detection switch is installed below the inner side of a sliding block of one electric linear sliding table, an element box A, an element box B, a photoelectric emission module and a photoelectric receiving module are installed on the inner side of the sliding block, and the detection mechanisms are installed in the element box A and the element box B respectively; and the short message module, the trigger circuit, the output sub-circuit, the time control circuit and the two sets of water level detection switches are arranged in the control box and are electrically connected. According to the invention, the requirement of automatic measurement is met, the quality of the dam body can be monitored in a larger range, and management personnel can be prompted by short messages to deal with faults of main parts and abnormity of the dam.

Description

Technical Field

[0001] The invention relates to the technical field of earth-rock dam monitoring, and in particular to an air-ground integrated coordinated monitoring system for a longitudinally reinforced earth-rock dam. Background Art

[0002] The reinforced core wall earth-rock dam is a special earth-rock dam. Specifically, it divides the dam body into the upstream water side and the downstream backwater side. These reinforcement bodies are simultaneously subjected to the water and soil pressure on both the upstream and downstream sides. The reinforced core wall earth-rock dam is characterized by the anti-seepage body located in the middle of the dam body, forming the so-called "core wall". The design concept of this type of dam is based on the dam construction idea of ​​"combining rigidity and flexibility". The rigid anti-seepage core wall is set in the earth-rock dam to form a dam structure together with the original earth-rock dam body. The design of the reinforced core wall earth-rock dam not only considers the structural safety of the dam body, but also considers the optimization of the dam body to improve its overall performance and stability. This type of dam has important application value in water conservancy project construction, especially in projects that require efficient anti-seepage and soil and water conservation.

[0003] In actual application, the reinforced core wall earth-rock dam is affected by factors such as construction quality or site disasters (such as earthquakes), high water levels, etc., and there is a probability of deformation of the dam body. Therefore, in order to ensure the normal application of the reinforced core wall earth-rock dam, it is necessary to monitor its deformation. At present, the monitoring technologies of the reinforced core wall earth-rock dam mainly include triangulation monitoring, line of sight monitoring, leveling monitoring, etc. The above monitoring methods have high requirements on monitoring technology and environmental factors. Since the monitoring environment is also relatively complex and the volume of the monitored objects is generally large, the traditional monitoring methods will bring inconvenience to the staff, and the labor is large and the observation time is long, making it difficult to achieve automatic monitoring. With the development of technology, the existing technology has also seen the emergence of automatic deformation monitoring systems for reinforced core wall earth-rock dams, mainly including total station automatic monitoring systems, laser alignment monitoring systems, InSAR (interferometric synthetic aperture radar) monitoring systems, GNSS (global satellite navigation) monitoring systems, UWB (ultra-wideband microwave) monitoring systems, etc. Among them, the total station automatic monitoring system has the disadvantages of not having the conditions to build an observation room due to the aesthetic and safety needs of the on-site environment, and the construction period is long, the overall investment is high, and the conditions for implementation are not met. The laser alignment monitoring system has the disadvantages of inconvenient later operation management and maintenance, high overall investment, difficulty in implementation, and inapplicability. The InSAR monitoring system is limited by the satellite transit and its real-time performance is not strong. At the same time, due to the inaccurate imaging of the interference pattern under high vegetation coverage, there is a poor correlation, which will affect the accuracy. Although the GNSS monitoring system can work all-weather and does not require line of sight, the workload is greatly reduced, but its vertical measurement accuracy is ±5.0mm, which does not meet the requirements of the vertical displacement and horizontal displacement monitoring accuracy in the technical specifications for safety monitoring of earth-rock dams (there is also the problem of work being affected by weather). The measurement accuracy of the UWB monitoring system can reach millimeters or even microns, but due to outdoor work, the measurement accuracy is easily affected by rainy weather, so there are also problems in practical application.

[0004] Purpose of the Invention

[0005] In order to overcome the disadvantages of the existing deformation monitoring system of reinforced core wall earth-rock dam due to technical limitations as described in the background technology, the present invention provides a method of using a combination of GNSS+UWB to meet the requirements of all-weather operation and high-precision measurement of the deformation of the reinforced core wall earth-rock dam to a certain extent, and to meet the requirements of automatic measurement. Under the joint action of relevant mechanisms, the height of the detection head can be automatically adjusted according to the downstream water level, so as to achieve a wider range of monitoring of the dam quality as much as possible, and it has a self-checking function. When the main components fail or the dam is abnormal, it can promptly prompt the remote relevant management personnel to take corresponding measures by SMS, thereby providing technical support for the safe, stable and reliable operation of the dam. A kind of integrated sky-ground collaborative monitoring system for longitudinal reinforced earth-rock dam

[0006] The technical solution adopted by the present invention to solve its technical problem is:

[0007] A longitudinal reinforced earth-rock dam sky-ground integrated collaborative monitoring system, comprising a GNSS monitoring subsystem, a UWB monitoring subsystem, an electric linear slide, and a text message module, characterized in that it also comprises a data receiving unit, a data analysis unit, an early warning unit, a water level control mechanism, a detection mechanism, a detection circuit, and a time control circuit; the data receiving unit, the data analysis unit, and the early warning unit are application software installed on an Internet device, the data receiving unit can respectively receive data collected by the GNSS monitoring subsystem and the UWB monitoring subsystem and output them to the data analysis unit after preliminary processing; the data analysis unit is aimed at the nonlinear fusion problem of different data sets of the GNSS monitoring subsystem and the UWB monitoring subsystem , based on the extended Kalman filter loosely coupled fusion algorithm, the GNSS and UWB nonlinear data sets are fused. The position error accuracy of the fused data in each three-dimensional direction is maintained at the millimeter level, which can ensure high-precision detection on the basis of real-time acquisition of the three-dimensional coordinates of the monitoring points of the earth-rock dam; the early warning unit analyzes the data input by the data analysis unit, and sends out an early warning signal through the display screen when there is deformation in the earth-rock dam, providing managers with real-time monitoring, early warning and forecasting functions; there are at least two sets of electric linear slides, and the two sets of electric linear slides are vertically installed at both ends of the rear side of the earth-rock dam; the water level control mechanism includes at least two sets of water level detection switches and trigger circuits, one of which is an electric linear slide. The sliding block is installed with a fixed rod, and the detection heads of the two sets of water level detection switches are installed at the upper and lower ends of the fixed rod respectively at a distance from each other; the detection circuit includes a photoelectric transmitting module, a photoelectric receiving module, and an output sub-circuit, and the upper ends of the inner sides of the sliding blocks of the two sets of electric linear slides are respectively installed with component boxes A and component boxes B, and the inner sides of component boxes A and component boxes B respectively have an opening, and there are two sets of photoelectric transmitting modules and photoelectric receiving modules respectively, one set of photoelectric transmitting modules is installed in component box A, and one set of photoelectric receiving modules is installed in component box B; the detection mechanism includes at least two sets of electric push rods, the upper ends of the two sets of electric push rods are respectively installed in the upper ends of component boxes A and component boxes B, and the second set of photoelectric receiving modules is installed in the first The second photoelectric receiving module is installed at the lower end of the second electric push rod, and the second photoelectric transmitting module is located between one of the photoelectric transmitting modules and the opening; the SMS module, the trigger circuit, the output subcircuit, the time control circuit, and the two water level detection switches are installed in the control box; the signal output ends of the two water level detection switches are electrically connected to the two signal input ends of the trigger circuit, and the two power output ends of the trigger circuit are electrically connected to the power input ends of the two electric linear slides; the signal output end of one of the photoelectric receiving modules is electrically connected to the signal input end of the output subcircuit;The power output end of the time control circuit is electrically connected to the signal input ends of the two sets of electric push rods, the SMS module, the second set of photoelectric transmitting modules, and the second set of photoelectric receiving modules respectively; the signal output end of the output subcircuit and the trigger output end of the time control circuit are electrically connected to the two signal input ends of the SMS module respectively; the control end of the second set of photoelectric receiving modules is electrically connected to the trigger input end of the time control circuit. ;

[0008] Furthermore, the data analysis unit and the loosely coupled fusion algorithm application model select the three-dimensional coordinates of the earth-rock dam monitoring point and the velocity components in three directions as follows: X = [x, y, z, v x , v y , v z ]; The selected state quantity is the distance between the reference point and the monitoring point measured by the UWB monitoring subsystem, and the three-dimensional coordinates of the monitoring point received in real time by the GNSS monitoring subsystem. The specific formula is as follows:

[0009] Y=[L uwb , x gnss ,y gnss , z gnss ].

[0010] Furthermore, the transmitting head of one set of the photoelectric transmitting modules and the receiving head of one set of the photoelectric receiving modules are laterally arranged in a straight line.

[0011] Furthermore, when the push rods of the two sets of electric push rods are at the bottom dead point, the receiving head of the second set of photoelectric receiving modules and the transmitting head of one set of photoelectric transmitting modules are horizontally in the same plane, and the receiving head of the first set of photoelectric receiving modules and the transmitting head of the second set of photoelectric transmitting modules are horizontally in the same plane.

[0012] Furthermore, the trigger circuit includes two electrically connected relays, the positive control power input terminals of the two relays are electrically connected, and the negative power input terminals of the two relays are connected to the negative control power input terminals.

[0013] Furthermore, the output subcircuit includes an electrically connected resistor and a transistor, and one end of the resistor is connected to the base of the transistor.

[0014] Furthermore, the timing control circuit includes an electrically connected timing control module, a time relay module, and a relay; the positive power input terminals of the two sets of time relay modules are connected to the positive power input terminals of the two sets of time control modules and the control power input terminals of the first relay and the second relay; the negative power input terminals of the two sets of time control modules are connected to the negative power input terminals and the negative control signal input terminals of the two sets of time relay modules, the negative power input terminals of the first relay and the second relay, the negative power input terminal of the third relay, and the negative control power input terminal; the positive power output terminal of the first set of timing control modules is connected to the positive control signal input terminals of the two sets of time relay modules.

[0015] Compared with the prior art, the present invention has the following beneficial effects: the present invention combines the GNSS monitoring subsystem and the UWB monitoring subsystem, utilizes the advantages of both, and combines the software unit to perform all-weather and high-precision measurement of the external deformation of the longitudinal position of the reinforced earth-rock dam, meets the requirements of automatic measurement, and can send out early warning signals through the display screen when there is deformation in the earth-rock dam, and provides real-time monitoring, early warning and forecasting functions for safety managers of water conservancy projects such as earth-rock dams (it can overcome the problem that the photoelectric detection mechanism cannot monitor the upper and lower deformation of the upper end of the earth-rock dam, and the photoelectric detection mechanism cannot monitor the deformation of the earth-rock dam under extreme conditions); and in the electric linear slide, SMS module, water level control mechanism, detection mechanism, detection Under the action of the circuit, the time control circuit (which can overcome the problem that the GNSS monitoring subsystem and the UWB monitoring subsystem work abnormally in abnormal weather and extreme conditions, or the relevant personnel do not actively observe the display screen data and cannot timely understand the specific situation), the height of the detection head (the components installed in the component box A and the component box B) is automatically adjusted according to the water level downstream of the earth-rock dam, so as to achieve a wider range of monitoring of the dam quality as much as possible, and has a self-checking function. When the main components fail or the dam is abnormal, it can promptly prompt the remote relevant management personnel to take corresponding measures by SMS, which further provides technical support for the safe, stable and reliable operation of the dam. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0017] Figure 1 It is a static relative positioning diagram of the GNSS monitoring subsystem of the present invention.

[0018] Figure 2 It is an asymmetric bilateral two-way ranging diagram of the present invention.

[0019] Figure 3 It is the architecture diagram of the GNSS monitoring subsystem and the UWB monitoring subsystem of the present invention.

[0020] Figure 4 , 5It is a schematic diagram of the overall structure and the partially enlarged structure of the present invention.

[0021] Figure 6 It is a circuit diagram of the present invention. DETAILED DESCRIPTION

[0022] Figure 1 , 2As shown in , 3, 4, 5, and 6, a longitudinal reinforced earth-rock dam sky-ground integrated collaborative monitoring system includes a GNSS monitoring subsystem, a UWB monitoring subsystem, a solar panel G1, a battery G2, a long-stroke waterproof electric linear slide MN, and a text message module A11. It also has a data receiving unit, a data analysis unit, an early warning unit, a water level control mechanism, a detection mechanism, a detection circuit, and a timing control circuit 2; the data receiving unit, the data analysis unit, and the early warning unit are application software installed on a remote monitoring end Internet device (such as a PC), and the data receiving unit can receive data collected by the GNSS monitoring subsystem and the UWB monitoring subsystem respectively. The data is processed and output to the data analysis unit after preliminary processing; the data analysis unit fuses the GNSS and UWB nonlinear data sets based on the extended Kalman filter loosely coupled fusion algorithm for the nonlinear fusion problem of different data sets of the GNSS monitoring subsystem and the UWB monitoring subsystem. The position error accuracy of the fused data in each three-dimensional direction is kept at the millimeter level, and high-precision monitoring can be guaranteed on the basis of real-time acquisition of the three-dimensional coordinates of the monitoring points of the earth-rock dam; the early warning unit analyzes the data input by the data analysis unit, and sends out an early warning signal through the display screen when the earth-rock dam is deformed, providing safety managers of water conservancy projects such as earth-rock dams. Real-time monitoring, early warning and forecasting functions; there are two sets of long-stroke waterproof electric linear slides MN, which are respectively vertically installed at the left and right ends of the rear side of the earth-rock dam 3, and the solar panel G1 is installed on a high sunny support frame (not shown in the figure) near the earth-rock dam 3; the water level control mechanism includes at least two sets of water level detection switches A1 and A2 and a trigger circuit 4, a fixed rod 5 is welded to the lower end of the inner side of the sliding block of the left electric linear slide, and the split detection heads of the two sets of water level detection switches A2 and A1 are respectively installed at the lower end and the middle part of the fixed rod 5 at a certain distance (10 cm) above and below; the detection circuit includes a photoelectric emission module and a photoelectric receiving module, an output subcircuit 1, a component box A6 and a component box B7 are respectively installed at the upper inner end of the sliding block of the two sets of electric linear slides MN, and there is an opening on the inner middle of the upper end of the component box A6 and the component box B7 (which is conducive to the photoelectric transmitting module to transmit infrared light beams and the photoelectric receiving module to receive infrared light beams), and there are two sets of photoelectric transmitting modules and photoelectric receiving modules respectively, one set of photoelectric transmitting modules A3 is sealed and installed in the component box A6 and its transmitting head is located at the inner left end of the opening (with an interval of 1 cm), and one set of photoelectric receiving modules A4 is sealed and installed in the component box B7 and its receiving head is located at the inner right end of the glass opening (with an interval of 1 cm);The detection mechanism includes two sets of micro electric push rods M, the upper ends of the cylinders of the two sets of micro electric push rods M are vertically distributed and installed in the upper ends of the component boxes A6 and B7 respectively, the second set of photoelectric receiving modules A9 is installed at the lower end of the push column of the first set of electric push rods M, and the second set of photoelectric receiving modules A9 is located between one set of photoelectric transmitting modules A3 and the opening of the component box A6, the second set of photoelectric transmitting modules A10 is installed at the lower end of the push column of the second set of electric push rods M, and the second set of photoelectric transmitting modules A10 is located between one set of photoelectric receiving modules A4 and the opening of the component box B7; the battery G2, SMS module A11, trigger circuit 4, output subcircuit 1, time control circuit 2, and two sets of water level detection switches are sealed and installed in the control box 10, and the control box 10 is installed in the front middle of the support frame. ;

[0023] Figure 1 , 2 As shown in , 3, 4, 5, and 6, compared with the GNSS monitoring subsystem technology, the UWB monitoring subsystem technology has a better advantage in one-dimensional distance change accuracy, which can make up for the defect of the GNSS monitoring subsystem in terms of large elevation measurement error; and the GNSS monitoring subsystem can obtain the three-dimensional coordinates of the monitoring point in real time. Therefore, the present invention combines the high-precision GNSS monitoring subsystem positioning technology with the UWB monitoring subsystem ultra-wideband microwave ranging technology, and utilizes the characteristics of the GNSS monitoring subsystem ultra-wideband microwave free networking and extreme sensitivity to elevation changes and the GNSS monitoring subsystem positioning technology that does not require line of sight and three-dimensional perception to complement each other, and connects the on-site equipment end and the remote service end (the application software data receiving unit, data analysis unit, and early warning unit of the Internet device) through the network for communication connection and data exchange, so as to solve the problem of insufficient elevation accuracy when using only a single satellite positioning system, and the large workload of manual observation of precision leveling instruments and the inability to achieve automation, so that the monitoring system develops in the direction of integration, automation, and networking, and improves the accuracy and intelligence of deformation monitoring of reinforced earth-rock dams. The architecture of the GNSS monitoring subsystem and the UWB monitoring subsystem are shown in the figure. Figure 3 In view of the nonlinear fusion problem of different data sets of the UWB monitoring subsystem and the GNSS monitoring subsystem, the present invention adopts an improved loosely coupled fusion algorithm based on the Extended Kalman Filter (EKF). The three-dimensional coordinates and velocity components of the earth-rock dam monitoring point in the architecture model are selected as follows: X = [x, y, z, v x , v y , v z ]; At the same time, the selected state quantity is the distance between the reference point and the monitoring point measured by the UWB monitoring subsystem, and the three-dimensional coordinates of the monitoring point received in real time by its own GNSS monitoring subsystem. The formula is as follows: Y = [L uwb , x gnss ,ygnss , z gnss ]. After the nonlinear data sets of the GNSS monitoring subsystem and the UWB monitoring subsystem are fused, the position error accuracy in each direction of the three-dimensional space is maintained at the millimeter level. Therefore, the fusion monitoring technology of the GNSS monitoring subsystem plus the UWB monitoring subsystem can ensure high monitoring accuracy based on the real-time acquisition of the three-dimensional coordinates of the monitoring point. x, y, z are the coordinates of the monitoring point in three directions respectively; v x ,v y ,v z , are the velocity components in three directions. uwb is the distance between the reference point and the monitoring point in the UWB monitoring subsystem; x gnss ,y gnss ,z gnss It is the three-dimensional coordinate of the GNSS monitoring subsystem.

[0024] Figure 1 , 2As shown in , 3, 4, 5, and 6, the transmitting head of one set of photoelectric transmitting modules A3 and the receiving head of one set of photoelectric receiving modules A4 are in a straight line horizontally. When the push posts of the two sets of electric push rods M are at the lower dead center, the receiving head of the second set of photoelectric receiving modules A9 and the transmitting head of one set of photoelectric transmitting modules A3 are in the same plane horizontally, and the receiving head of the first set of photoelectric receiving modules A4 and the transmitting head of the second set of photoelectric transmitting modules A10 are in the same plane horizontally; when the push posts of the two sets of electric push rods M are at the upper dead center, the receiving head of the second set of photoelectric receiving modules A9 is higher than the height of the transmitting head of one set of photoelectric transmitting modules A3, and the receiving head of the first set of photoelectric receiving modules A4 is lower than the height of the transmitting head of the second set of photoelectric transmitting modules A10. The trigger circuit includes two relays J1 and J2 connected by circuit board wiring, the positive control power input ends of the two relays J1 and J2 are connected, and the negative power input ends of the two relays J1 and J2 are connected to the negative control power input end. The output subcircuit includes a resistor R1 and a transistor Q1 connected via circuit board wiring, and one end of the resistor R1 is connected to the base of the transistor Q1. The time control circuit includes time control modules A5 and A6, time relay modules A7 and A8, relays J3, J4, and J5 connected via circuit board wiring, the positive power input terminal 1 pin of two sets of time relay modules A7 and A8 is connected to the positive power input terminal 1 pin of two sets of time control modules A5 and A6, the first relay J3 is connected to the control power input terminal of the second relay J4, the negative power input terminal 2 pin of two sets of time control modules A5 and A6 is connected to the negative power input terminal 2 pin and the negative control signal input terminal 4 pin of two sets of time relay modules A7 and A8, the first relay J3 is connected to the negative power input terminal of the second relay J4, the negative power input terminal of the third relay J5 and the negative control power input terminal, and the positive power output terminal 3 pin of the first set of time control module A5 is connected to the positive control signal input terminal 3 pin of the two sets of time relay modules A7 and A8.

[0025] Figure 1 , 2As shown in Figures 3, 4, 5, and 6, the two poles of the solar panel G1 and the two poles of the battery G2, the power input terminals 1 and 2 of the two water level detection switches A1 and A2, the power input terminals of the trigger circuit relays J1 and J2 control the power input terminals, the power input terminals of the output sub-circuit transistor Q1 emitter, the power input terminals of the timing control circuit, the 1 and 2 pins of the timing control module A5, and the power input terminals 1 and 2 pins of the photoelectric transmitting module A3 and the photoelectric receiving module A4 are connected through wires. The signal output terminals 3 pins of the two water level detection switches A1 and A2 and the positive power input terminals of the two signal input terminals of the trigger circuit relays J1 and J2 are connected through wires. The two normally open contact terminals of the two power output terminals of the trigger circuit relay J1, the two normally closed contact terminals of the relay J2 and the positive and negative and negative and positive power input terminals of the two electric linear slides MN are connected through wires. The signal output terminal 3 pin of one of the photoelectric receiving modules A4 and the other end of the signal input terminal resistor R1 of the output sub-circuit are connected through wires. The 3rd and 4th pins of the power output terminals of the time control modules A5 and A5 are connected to the positive and negative and negative and positive and negative power input terminals of the two sets of electric push rods M respectively through wires, and the normally closed contact terminal and the negative power input terminal of the relay J3 are connected to the 1st and 2nd pins of the power input terminals of the SMS module A11 respectively through wires; the normally open contact terminal and the negative power input terminal of the relay J4 are connected to the 1st and 2nd pins of the power input terminals of the photoelectric transmitting module A10 and the photoelectric receiving module A9 respectively through wires. The 3rd pin of the second set of photoelectric receiving modules A9 is connected to the positive power input terminal of the electric relay J5 at the trigger input terminal of the time control circuit through wires. The signal output terminal of the triode Q1 collector of the trigger subcircuit and the normally open contact terminal of the relay J5 at the trigger output terminal of the time control circuit are connected to the 3rd and 4th pins of the two signal input terminals of the SMS module A11 respectively through wires.

[0026] Figure 1 , 2As shown in , 3, 4, 5, and 6, the solar panel G1 usually generates electricity under light to power the battery G2, and the battery G2 outputs power to the two sets of water level detection switches A1 and A2, the power input terminals of the trigger circuit, the output sub-circuit, the time control circuit, etc. (the power supply method of the solar panel G1 saves energy, and the battery G2 stores electricity to ensure that the present invention can work normally on rainy days and at night). In actual applications, when the detection head of the water level detection switch A2 does not touch the water surface, its pin 3 does not output a high level, and the relay J2 will not be energized to attract the control power input terminal and the normally closed contact terminal to close. Then, the negative and positive power input terminals of the two sets of electric linear slides MN are energized, and their sliding blocks drive the two sets of water level detection switches A1 and A2 downward. When the detection head of the water level detection switch A2 touches the water surface, its pin 3 outputs a high level, and the relay J2 will be energized to attract the control power input terminal and the normally closed contact terminal to open. Then, the negative and positive power input terminals of the two sets of electric linear slides MN are no longer energized, and their sliding blocks no longer drive the two sets of water level detection switches A1 and A2 downward. When the detection head of the water level detection switch A1 does not touch the water surface, its pin 3 does not output a high level, and the relay J1 will not be energized to attract the control power input terminal and the normally open contact terminal, then the positive and negative power input terminals of the two sets of electric linear slides MN will not be energized, and its sliding block will not drive the two sets of water level detection switches A1 and A2 upward; when the detection head of the water level detection switch A1 touches the water surface, its pin 3 outputs a high level, and the relay J1 will be energized to attract the control power input terminal and the normally open contact terminal to close, then the positive and negative power input terminals of the two sets of electric linear slides MN will be energized and its sliding block will drive the two sets of water level detection switches A1 and A2 upward. Through the above, the present invention can automatically drive the internal parts of component box A and component box B (the interval between the upper end water level detection switch A is about 20 cm, and the openings of component box A and component box B can be sealed with special optical glass to prevent water from entering component box A and component box B) up or down along with the water level downstream of the earth-rock dam, and detect whether the earth-rock dam is deformed forward and backward within the largest possible height range.

[0027] Figure 1 , 2, 3, 4, 5, 6. Normally, the light beam emitted by the photoelectric transmitting module A3 directly shines on the receiving surface of the photoelectric receiving module A4 when the earth-rock dam has no front or rear deformation, and the 3rd pin of the photoelectric receiving module A4 does not output a high level; when the earth-rock dam has front or rear deformation, the light beam emitted by the photoelectric transmitting module A3 no longer directly shines on the receiving surface of the photoelectric receiving module A4 (the front or rear offset position of the two sets of electric linear slides MN), and the 3rd pin of the photoelectric receiving module A4 outputs a high level, which enters the base of the transistor Q1 through the voltage reduction and current limiting of the resistor R1, and the collector of the transistor Q1 is turned on to output a low level, which enters the 3rd pin of the SMS module A11, and the SMS module A11 sends the first SMS; after receiving the SMS, the mobile phone of the relevant remote management personnel can immediately know that the earth-rock dam has deformed (or the photoelectric transmitting module A10 and the photoelectric receiving module A9 have failed). After the time control module A5 is powered on, its 3rd and 4th pins will output power for a certain period of time (for example, 8 seconds) every day to the positive and negative power input terminals of the two sets of electric push rods M (and simultaneously output a high level to enter the positive control signal input terminal 3rd pin of the time relay modules A7 and A8). After the positive and negative power input terminals of the two sets of electric push rods M are powered on, their push columns drive the photoelectric receiving module A9 and the photoelectric transmitting module A10 to synchronously descend to the stop point, and the receiving surface of the photoelectric receiving module A9 is aligned with the infrared beam emitted by the photoelectric transmitting module A3, and the receiving surface of the photoelectric receiving module A4 is aligned with the infrared beam emitted by the photoelectric transmitting module A10; after the time control module A6 is powered on, its 3rd and 4th pins will output 8 seconds of power to the negative and positive power input terminals of the two sets of electric push rods M at an interval of 4 seconds after the 3rd and 4th pins of the time control module A5 output 8 seconds of power every day. The two sets of electric push rods After the positive and negative power input terminals of M are energized, the push column drives the photoelectric receiving module A9 and the photoelectric transmitting module A10 to rise synchronously to the stop point, and the receiving surface of the photoelectric receiving module A4 and the infrared light beam emitted by the photoelectric transmitting module A3 are aligned again; when the time control module A5 outputs a high level, the time relay modules A7 and A8 are energized at the same time because the positive control signal input terminal pin 3 and the negative control signal input terminal pin 4 are energized, and the pin 5 of the time relay module A7 will first output power for 9 seconds, and the relay J3 is energized to attract its control power input terminal and the normally closed contact terminal to open the circuit, then within 9 seconds, the short message module A11 will not be energized to work, thus preventing the transmitting surface of the photoelectric transmitting module A3 and the receiving surface of the photoelectric receiving module A4 from being blocked by the receiving surface of the photoelectric receiving module A9 and the photoelectric transmitting module A10 respectively, causing the short message module A11 to send a short message by mistake.After the positive control signal input terminal 3 of the time relay module A8 is energized (the negative control signal input terminal 4 is energized at the same time), the 5th pin of the time relay module A8 outputs a high level for 3 seconds at intervals of 9 seconds to enter the positive power input terminal of relay J4. Relay J4 is energized to attract its control power input terminal and normally open contact terminal to close. Then within 3 seconds, the photoelectric receiving module A9 and the photoelectric transmitting module A10 will be energized to work and measure the performance of the photoelectric receiving module A4 and the photoelectric transmitting module A3. After 9 seconds, the 5th pin of the time relay module A7 stops outputting a high level, and relay J3 loses power and no longer attracts its control power input terminal and normally closed contact terminal to close. Then, the SMS module A11 is energized again. After the photoelectric transmitting module A10 is powered on, if it and the photoelectric receiving module A4 both work normally, the 3rd pin of the photoelectric receiving module A4 does not output a high level, and after the subsequent SMS module A11 is powered on, its 3rd pin will not input a low level signal to send a SMS; after the photoelectric transmitting module A10 is powered on, if either it or the photoelectric receiving module A4 does not work normally, the 3rd pin of the photoelectric receiving module A4 outputs a high level, and the high level enters the base of the transistor Q1 through the voltage reduction and current limiting of the resistor R1, and the transistor Q1 is turned on and the collector outputs a low level and enters the 3rd pin of the SMS module A11, and the SMS module A11 transmits the first SMS. After receiving the SMS, the mobile phone of the relevant remote management personnel can immediately know that the earth-rock dam on site has been deformed, or the photoelectric transmitting module A10 and the photoelectric receiving module A4 have failed. After the photoelectric receiving module A9 is powered on, if it and the photoelectric transmitting module A3 both work normally, the 3rd pin of the photoelectric receiving module A9 does not output a high level, and after the subsequent SMS module A11 is powered on, its 4th pin does not input a low level signal to send a SMS; after the photoelectric receiving module A9 is powered on, if either it or the photoelectric transmitting module A3 does not work normally, the 3rd pin of the photoelectric receiving module A9 outputs a high level and enters the positive power input terminal of the relay J5, and the relay J5 is powered on to attract its control power input terminal and the normally open contact terminal to close, and then, a low level enters the 4th pin of the SMS module A11, and the SMS module A11 sends out the second SMS. After the mobile phone of the relevant remote manager receives the SMS, he can immediately know that the photoelectric transmitting module A3 or the photoelectric receiving module A9 has a fault.

[0028] Figure 1 , 2As shown in , 3, 4, 5, and 6, after the 3rd and 4th pins of the time relay module A7 stop outputting power for 3 seconds, they output power for 8 seconds to the positive power input terminal of the relay J3 again. The relay J3 is energized to close its control power input terminal and the normally closed contact terminal to open the circuit. In this way, the SMS module A11 stops working for 8 seconds again (preventing the receiving surface of the photoelectric receiving module A4 and the transmitting surface of the photoelectric transmitting module A3 from being unable to receive the infrared beam emitted by the transmitting surface of the photoelectric transmitting module A3 due to the rising height of the photoelectric receiving modules A9 and the photoelectric transmitting modules A10). , causing the SMS module A11 to send SMS messages by mistake); when the 3rd and 4th pins of the time control module A6 output 8 seconds of power to the negative and positive power input terminals of the two sets of electric push rods M, after the negative and positive power input terminals of the two sets of electric push rods M are energized, their push columns drive the photoelectric receiving module A9 and the photoelectric transmitting module A10 to rise synchronously to the stop point, and the receiving surface of the photoelectric receiving module A4 is aligned with the infrared beam emitted by the photoelectric transmitting module A3, preparing to continue to detect whether the earth-rock dam is deformed (after an interval of 8 seconds, the 5th pin of the time relay module A5 stops outputting power and the SMS module is energized again to work).

[0029] The background technology of GNSS monitoring subsystem is introduced as follows. GNSS refers to all satellite navigation systems. It is a complex combination system with multiple systems, multiple levels and multiple modes. It is generally composed of space part, ground control part and user part. Its basic positioning principle is: GNSS satellite transmits navigation message and ranging code signal, which are received by ground receiver after propagation through the path. At the same time, the satellite signal is tracked and measured, and the time used by the satellite signal in the propagation path is calculated. The principle of GNSS static relative positioning is as follows Figure 1As shown in the figure; according to the propagation time and speed, the distance from the receiver to the satellite is calculated, and the instantaneous spatial coordinates of the satellite are calculated according to the satellite ephemeris. Finally, the spatial distance intersection calculation is performed through the ranging signals of multiple satellites to deduce the spatial coordinates of the receiver; when GNSS is used for high-precision deformation monitoring, static relative positioning is generally used to fix multiple receivers separately to form a baseline. During the observation process, the receiver antenna position is fixed, and satellites of different epochs are continuously and synchronously observed to increase redundant observations and perform differential baseline solution, with the highest observation accuracy; GNSS has been widely used in the monitoring of geological disasters such as landslides, collapses, and mud-rock flows in recent years due to its all-weather operation, no need for line of sight between measuring points, and high degree of automation. However, due to the low accuracy of GNSS elevation measurement, it is rarely used in vertical settlement monitoring of reinforced earth-rock dams in practical applications. The background technology of UWB monitoring subsystem is introduced as follows: UWB is a carrier-free microwave communication technology, which uses non-sinusoidal narrow pulses to modulate information on a series of pulses with extremely short time intervals (less than 1 nanosecond). Due to the signal system, it has strong anti-interference ability and extremely strong anti-multipath effect ability, so it has a very high resolution on the time scale; At present, the accuracy of UWB ranging has been continuously improved. Based on the principle of asymmetric bilateral two-way ranging (ADS-TWR), a final message is added on the basis of unilateral two-way ranging, and three communications are carried out. Through high-precision crystal oscillators and targeted algorithms, the measurement can be completed within one minute, so that the data can reach the millimeter-level displacement measurement accuracy; The principle of asymmetric bilateral two-way ranging is as follows Figure 2 shown.

[0030] Figure 1 , 2, 3, 4, 5, and 6, through the above, the present invention combines the GNSS monitoring subsystem and the UWB monitoring subsystem, utilizes the advantages of both, and combines the software unit to perform all-weather work and high-precision measurement of the external deformation of the longitudinal position of the reinforced earth-rock dam, meets the requirements of automatic measurement, and sends out an early warning signal through the display screen when there is deformation in the earth-rock dam, and provides real-time monitoring, early warning and forecasting functions for safety managers of water conservancy projects such as earth-rock dams (it can overcome the problem that the photoelectric detection mechanism cannot monitor the upper and lower deformation of the upper end of the earth-rock dam, and the photoelectric detection mechanism cannot monitor the deformation of the earth-rock dam under extreme conditions); and in the electric linear slide, SMS module, water level control mechanism, detection mechanism, detection electric Under the action of the circuit and time control circuit (which can overcome the abnormal weather of the GNSS monitoring subsystem and the UWB monitoring subsystem, as well as the abnormal operation of the GNSS monitoring subsystem and the UWB monitoring subsystem in extreme cases, or the relevant personnel do not actively observe the display screen data and cannot timely understand the specific situation), the height of the detection head (installed in component box A and component box B) is automatically adjusted according to the water level downstream of the earth-rock dam, so as to achieve a wider range of monitoring of the dam quality as much as possible, and has a self-check function. When the main components fail or the dam is abnormal, it can promptly prompt the remote relevant management personnel to take corresponding measures by SMS, which further provides technical support for the safe, stable and reliable operation of the dam.

[0031] Figure 6As shown, relays J1, J2, J3, J4, and J5 are DC12V relays; electric push rod M is a reciprocating telescopic rod product; electric linear slide MN is an electric screw slide product; solar panel G1 is a 12V, 100W solar panel product; battery G2 is a 12V, 200Ah lithium battery; time control modules A5 and A6 are fully automatic microcomputer time control switch products of model KG316T. The microcomputer time control switch itself has a display screen, and can also cancel / restore, adjust the time, adjust the minute, adjust the week, automatic / manual, and time. , clock, and has two power input terminals 1, 2 feet, two power output terminals 3, 4 feet, the user presses the multiple buttons respectively to set the interval time of the two power output terminals outputting power and the time of each power output; the time relay module A7, A8 is a finished product of the time relay module of model YF79, which has two power input terminals, two control signal input terminals, two power output terminals (5, 6 feet, 5 feet is a normally open power output terminal, 6 feet is a normally closed power output terminal, this embodiment is left unused), four setting buttons, technical personnel The technician opens the component box and adjusts the four setting buttons to set the time for the 5th pin to output power after all the trigger signals are input to the two control signal input terminals each time; the SMS module A11 is a 6-way switch 4G SMS alarm module of AS6D1K1-, which has two power input terminals 1 and 2, and six low-level signal input terminals 3-8. After each low-level signal input terminal inputs a low-level signal, it can send six SMS messages respectively; the photoelectric transmitting module A3, the photoelectric receiving module A4, the photoelectric transmitting module A10, and the photoelectric receiving module A9 are SHiK The infrared transmitting and receiving module assembly of model E is a finished product, and its detection distance can reach up to 300 meters. When the infrared receiving module receives the light beam emitted by the infrared transmitting module during operation, its 3rd pin does not output a high level, otherwise it outputs a high level; the water level detection switches A1 and A2 are finished water level detection switches of model HSM-WT202, which have two power input terminals and one power output terminal. When the split detection head detects water, the power output terminal outputs power, otherwise it does not output; the transistor Q1 model is 9013 (NPN); the resistance value of the resistor R1 is 1K.

[0032] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claim involved.

[0033] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in the embodiments may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A longitudinal reinforced earth-rock dam sky-ground integrated collaborative monitoring system, including a GNSS monitoring subsystem, a UWB monitoring subsystem, an electric linear slide, and a text message module, characterized in that: It also has a data receiving unit, a data analysis unit, an early warning unit, a water level control mechanism, a detection mechanism, a detection circuit, and a time control circuit; the data receiving unit, the data analysis unit, and the early warning unit are application software installed on the Internet device, and the data receiving unit can respectively receive the data collected by the GNSS monitoring subsystem and the UWB monitoring subsystem and output them to the data analysis unit after preliminary processing; The data analysis unit aims at the nonlinear fusion problem of different data sets of the GNSS monitoring subsystem and the UWB monitoring subsystem, and fuses the GNSS and UWB nonlinear data sets based on the extended Kalman filter loosely coupled fusion algorithm. The position error accuracy of the fused data in each three-dimensional space direction is maintained at the millimeter level, and high-precision detection can be guaranteed on the basis of real-time acquisition of the three-dimensional coordinates of the earth-rock dam monitoring point; the early warning unit analyzes the data input by the data analysis unit, and sends out an early warning signal through the display screen when there is deformation in the earth-rock dam, providing managers with real-time monitoring, early warning and forecasting functions; the electric linear slide has at least two sets, and the two sets of electric The electric linear slides are respectively installed vertically at both ends of the rear side of the earth-rock dam; the water level control mechanism includes at least two sets of water level detection switches and trigger circuits, one of which is equipped with a fixed rod on the sliding block of the electric linear slide, and the detection heads of the two sets of water level detection switches are respectively installed at the upper and lower ends of the fixed rod at a distance from each other; the detection circuit includes a photoelectric transmitting module, a photoelectric receiving module, and an output subcircuit, and the upper ends of the inner sides of the sliding blocks of the two sets of electric linear slides are respectively installed with component boxes A and component boxes B, and there are openings on the inner sides of component boxes A and component boxes B respectively, and there are two sets of photoelectric transmitting modules and photoelectric receiving modules respectively, one of which is equipped with a photoelectric transmitting module and one of which is equipped with a photoelectric receiving module. The electric receiving module is installed in the component box B; the detection mechanism includes at least two sets of electric push rods, the upper ends of the two sets of electric push rods are respectively installed in the upper ends of the component boxes A and B, the second set of photoelectric receiving modules is installed at the lower end of the first set of electric push rods, and the second set of photoelectric receiving modules is located between one set of photoelectric transmitting modules and the opening, the second set of photoelectric transmitting modules is installed at the lower end of the second set of electric push rods, and the second set of photoelectric transmitting modules is located between one set of photoelectric receiving modules and the opening; the SMS module, the trigger circuit, the output subcircuit, the time control circuit, and the two sets of water level detection switches are installed in the control box; the signal output end and the trigger end of the two sets of water level detection switches are connected to the trigger circuit. The two signal input ends of the transmitting circuit are electrically connected respectively, and the two power output ends of the trigger circuit are electrically connected to the power input ends of the two sets of electric linear slides respectively; the signal output end of one of the photoelectric receiving modules is electrically connected to the signal input end of the output sub-circuit; the power output end of the timing control circuit is electrically connected to the signal input ends of the two sets of electric push rods, the SMS module, the second set of photoelectric transmitting modules, and the second set of photoelectric receiving modules respectively, and the signal output end of the output sub-circuit and the trigger output end of the timing control circuit are electrically connected to the two signal input ends of the SMS module respectively; the control end of the second set of photoelectric receiving modules is electrically connected to the trigger input end of the timing control circuit.

2. The integrated sky-ground collaborative monitoring system for longitudinally reinforced earth-rock dam according to claim 1 is characterized in that: The data analysis unit and the loosely coupled fusion algorithm application model select the three-dimensional coordinates of the earth-rock dam monitoring point and the velocity components in three directions as follows: X[x, y, z, v x , v y , v z ]; The selected state quantity is the distance between the reference point and the monitoring point measured by the UWB monitoring subsystem, and the three-dimensional coordinates of the monitoring point received in real time by the GNSS monitoring subsystem. The specific formula is as follows: Y = [L uwb , x gnss ,y gnss , z gnss ].

3. The integrated sky-ground collaborative monitoring system for longitudinally reinforced earth-rock dam according to claim 1 is characterized in that: The transmitting head of one set of photoelectric transmitting modules and the receiving head of one set of photoelectric receiving modules are arranged in a straight line laterally.

4. The integrated sky-ground collaborative monitoring system for longitudinally reinforced earth-rock dam according to claim 1 is characterized in that: When the push rods of the two sets of electric push rods are at the bottom dead point, the receiving head of the second set of photoelectric receiving modules and the transmitting head of one set of photoelectric transmitting modules are horizontally in the same plane, and the receiving head of the first set of photoelectric receiving modules and the transmitting head of the second set of photoelectric transmitting modules are horizontally in the same plane.

5. The integrated sky-ground collaborative monitoring system for longitudinally reinforced earth-rock dam according to claim 1 is characterized in that: The trigger circuit includes two electrically connected relays, wherein the positive control power input terminals of the two relays are electrically connected, and the negative power input terminals of the two relays are connected to the negative control power input terminals.

6. The integrated sky-ground coordinated monitoring system for longitudinally reinforced earth-rock dam according to claim 1 is characterized in that: The output subcircuit comprises an electrically connected resistor and a transistor, wherein one end of the resistor is connected to the base of the transistor.

7. The integrated sky-ground coordinated monitoring system for longitudinally reinforced earth-rock dam according to claim 1 is characterized in that: The timing control circuit includes an electrically connected timing control module, a time relay module, and a relay. The positive power input terminals of the two sets of time relay modules are connected to the positive power input terminals of the two sets of time control modules and the control power input terminals of the first relay and the second relay. The negative power input terminals of the two sets of time control modules are connected to the negative power input terminals and the negative control signal input terminals of the two sets of time relay modules, the negative power input terminals of the first relay and the second relay, the negative power input terminal of the third relay, and the negative control power input terminal. The positive power output terminal of the first set of timing control modules is connected to the positive control signal input terminals of the two sets of time relay modules.

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