An automatic observation device for internal tilt deformation of rock and soil body

Abstract

The present invention provides an automatic observation device for the internal inclination and deformation of a rock and soil body, which relates to the field of geotechnical engineering monitoring technology, and includes a host control terminal, a lifting power mechanism, a lifting positioning mechanism, a lifting protection mechanism, a posture rotation mechanism, and a limit self-locking mechanism arranged above the orifice of a monitoring hole, and a lifting inclinometer probe arranged in the inclinometer tube of the monitoring hole. The host control terminal drives the lifting power mechanism, the lifting positioning mechanism, the lifting protection mechanism, the posture rotation mechanism, and the limit self-locking mechanism, and controls the lifting inclinometer probe to freely lift and lower in the inclinometer tube at two postures of 0° and 180°, and realizes zero-point limit self-locking. The lifting inclinometer probe has a built-in three-axis MEMS inclination sensor, which continuously collects formation inclination data along the cruise line, and autonomously completes wireless transmission and non-contact induction charging of observation data. The present invention uses a single probe to realize the measurement of the inclination deformation of the entire hole, supports repeated use, and observes the internal inclination deformation of the rock and soil body at low cost, fully automatically, and with high precision.

Description

Technical Field

[0001] The invention belongs to the technical field of geotechnical engineering monitoring, and in particular relates to an automatic observation device for internal tilt deformation of a rock and soil body. Background Art

[0002] Rock and soil are the foundation of major infrastructure such as high-rise buildings, bridges, tunnels, mines, and dams. During the service life of infrastructure, these engineering structures are susceptible to various external forces, causing deformation of rock and soil and engineering structures. In addition, geological disasters such as landslides, debris flows, and ground subsidence are often closely related to the deformation of rock and soil. Carrying out internal deformation monitoring of rock and soil and obtaining the deformation of rock and soil in a timely manner can not only effectively prevent the occurrence of catastrophic accidents such as structural failure and collapse, but also provide a scientific basis for the early warning and prevention of geological disasters. It is of great significance to ensure engineering safety, evaluate engineering performance, prevent geological disasters, guide engineering design and construction, and promote geotechnical mechanics research.

[0003] Currently, the monitoring equipment used for internal tilt deformation of rock and soil bodies mainly includes sliding inclinometers, fixed inclinometers, and the recently emerging flexible inclinometers based on MEMS tilt sensor arrays.

[0004] The sliding inclinometer consists of three major components: an inclinometer probe, a cable, and a host. It installs an inclinometer tube with a guide groove in the borehole, manually operates the inclinometer probe to slide along the guide groove, measures and records the change in the inclination angle of each depth section, and then calculates the horizontal displacement. The instrument is easy to operate, has high measurement accuracy, high spatial resolution, strong adaptability and is reusable. It is widely used in the internal inclination deformation monitoring of rock and soil bodies or structures such as earth-rock dams, panel dams, rock and soil slopes, embankments, foundation pits, etc. However, its disadvantage is that it requires manual on-site data collection, cannot realize automated remote monitoring, lacks real-time and long-term continuous observation capabilities, and is difficult to adapt to the trend of modern monitoring technology towards automation, remoteness, real-time, intelligence and standardization.

[0005] Both fixed inclinometers and flexible inclinometers are installed with inclination sensors at different elevations of the monitoring hole. Based on the inclination angles measured by each sensor and the spacing between sensors, the curve of the inclination displacement of the measured area changing with depth is calculated cumulatively. Both instruments have automatic data acquisition functions and can monitor the internal deformation of rock and soil in real time around the clock. However, their limitation is that the number of sensors needs to be customized according to the depth of the monitoring hole, and due to the purchase cost of the sensors, the number of inclination sensors installed in the same monitoring hole is often limited. This results in either the spacing between sensors being too large or they can only be deployed in a concentrated manner in specific locations (such as potential sliding surfaces), which affects the comprehensive monitoring effect of the internal inclination deformation of the rock and soil. In addition, in order to ensure the stable installation of the sensor, cement slurry is often used to fill the gap between the sensor and the monitoring hole, which makes it difficult to reuse the monitoring equipment after a single use, increasing the monitoring cost.

[0006] To this end, Chinese patent CN109883395B discloses an automatic inclinometer, which inherits the advantages of traditional sliding inclinometers such as high measurement accuracy, high spatial resolution, and reusability, while breaking through the technical bottlenecks of such instruments in automation, remoteness, and real-time data acquisition.

[0007] However, the above-mentioned automatic inclinometer faces many challenges in practical application: 1) The small pulley integrates the driving stepper motor, positioning encoder and obstacle sensing module, which makes it large in size, heavy and difficult to maintain; 2) The battery module does not have a charging function and needs to be replaced manually regularly, increasing operation and maintenance costs; 3) Data transmission between I / O connectors relies on physical contact, and the long-term operation reliability is poor in a humid environment; 4) The sensing module identifies obstacles through physical contact with the lower end probe, which makes it difficult to effectively detect abnormal working conditions such as lateral extrusion deformation of the borehole. Summary of the invention

[0008] In order to solve the above technical problems, the present invention provides an automatic observation device for the internal inclination and deformation of rock and soil bodies, which not only inherits the advantages of high-precision measurement, high spatial resolution and recycling of traditional sliding inclinometers, but also has advanced functions such as full-automatic measurement, real-time data acquisition and wireless transmission. It also has a sophisticated structural design, complete and reliable functions, and inductive charging capabilities. It can better adapt to complex and harsh outdoor environments and achieve long-term stable operation under unattended conditions.

[0009] To achieve the above object, the present invention adopts the following technical solution:

[0010] An automatic observation device for internal inclination and deformation of a rock and soil body comprises an above-ground device and an underground device; the above-ground device is arranged above the opening of a monitoring hole penetrating into the rock and soil body, and comprises a host control terminal, a lifting power mechanism, a lifting positioning mechanism, a lifting protection mechanism, a posture rotation mechanism and a limit self-locking mechanism; the lifting positioning mechanism is installed on the lifting protection mechanism, the lifting protection mechanism is installed on the lifting power mechanism, the lifting power mechanism and the limit self-locking mechanism are jointly arranged on the posture rotation mechanism, and the lifting power mechanism, the lifting positioning mechanism, the lifting protection mechanism, the posture rotation mechanism and the limit self-locking mechanism form an integrated structural component; the host control terminal is electrically connected to the lifting power mechanism, the lifting positioning mechanism, the lifting protection mechanism, the posture rotation mechanism and the limit self-locking mechanism through cables respectively;

[0011] The underground device includes an inclinometer tube pre-buried in the monitoring hole and a lifting inclinometer probe arranged inside the inclinometer tube and capable of sliding up and down along the guide groove of the inclinometer tube; the lifting inclinometer probe has a built-in three-axis MEMS inclination sensor, which continuously collects formation inclination data along the cruise line during the sliding process in the inclinometer tube;

[0012] The integrated structural assembly is fixedly mounted on the top of the inclinometer tube protruding out of the monitoring hole, and is connected to the lifting inclinometer probe through a measuring rope, so as to pull the lifting inclinometer probe to slide up and down in the inclinometer tube; the attitude rotation mechanism has a built-in positioning tube and a transposition tube, which are located in the inclinometer tube protruding out of the monitoring hole, ensuring that the lifting inclinometer probe smoothly transitions from the inclinometer tube to the transposition tube; driven by the rotary motor of the attitude rotation mechanism, the lifting inclinometer probe located in the transposition tube rotates synchronously with the transposition tube, realizing free switching between the two attitudes of 0 degree and 180 degree;

[0013] The lifting inclinometer probe and the ground device use near-field wireless communication and electromagnetic induction technology to achieve contactless data transmission and power replenishment.

[0014] Furthermore, the lifting power mechanism includes a guide rail assembly, a lead screw, a guide rail slider, a winding wheel, a winding motor, a wire arrangement motor, and a measuring rope;

[0015] The guide rail assembly is composed of a linear guide rail at the bottom and side plates at both ends thereof;

[0016] The lead screw is arranged parallel to the linear guide rail, one end of the lead screw passes through a side plate of the guide rail assembly and is connected to the cable arrangement motor, and the other end of the lead screw is connected to the other side plate of the guide rail assembly;

[0017] The guide rail slider is arranged on the linear guide rail and connected to the lead screw; driven by the wire arrangement motor, the guide rail slider moves bidirectionally along the lead screw by cooperating with the lead screw; a wire hole is arranged on the guide rail slider to facilitate the passing of the measuring rope;

[0018] The winding wheel and the winding motor are both fixed on the guide rail slider; the winding wheel is cylindrical, and its axis is set parallel to the lead screw, and is used for winding. The winding motor is coaxially connected to the winding wheel to drive the winding wheel to rotate forward and reverse;

[0019] The measuring rope is made of a high-strength flexible material with excellent tensile deformation resistance. One end of the measuring rope is connected to the end of the lifting inclinometer probe, and the other end of the measuring rope passes upward through the wire hole of the guide rail slider of the lifting power mechanism, the stress sensor connecting plate of the lifting protection mechanism and the wire hole of the stress sensor, bypasses the V-shaped wheel of the lifting positioning mechanism, and is wound around the winding wheel;

[0020] The wire arrangement motor drives the lead screw, causing the guide rail slider to move accordingly, arranging the measuring wires in order on the winding wheel; the winding motor drives the winding wheel to rotate clockwise or counterclockwise, and the lifting and lowering movement of the inclinometer probe is realized through the traction of the measuring wire.

[0021] Furthermore, the lifting and positioning mechanism includes an angle encoder, a coupling, a V-shaped wheel, a rotating shaft, an encoder bracket and an encoder screw;

[0022] The angle encoder is connected to the V-wheel and the rotating shaft through a coupling to rotate coaxially;

[0023] The measuring rope is wound around the V-shaped wheel, and the friction between the measuring rope and the V-shaped wheel drives the V-shaped wheel to rotate, thereby driving the angle encoder to rotate synchronously;

[0024] According to the number of rotations of the angle encoder and the specific diameter of the V-wheel, the current position of the lifting inclinometer probe and its lifting speed are calculated.

[0025] Further, the lifting protection mechanism includes a stress sensor connecting plate, a stress sensor, a sensor screw, and a connecting plate screw;

[0026] The stress sensor connecting plate is tightly connected to the side plates at both ends of the guide rail assembly of the lifting power mechanism through the connecting plate screws. The stress sensor is fixed to the stress sensor connecting plate through the sensor screws. The stress sensor connecting plate and the stress sensor are both provided with wire holes for passing the measuring rope.

[0027] The encoder bracket of the lifting and positioning mechanism is reliably connected to the stress sensor through the encoder screw of the lifting and positioning mechanism; when the measuring rope of the lifting and positioning mechanism applies pressure to the V-shaped wheel, it is transmitted to the stress sensor through the encoder bracket of the lifting and positioning mechanism;

[0028] The stress sensor senses the load on the measuring rope in real time and automatically detects abnormal conditions of the lifting and lowering inclinometer during the ascending or descending process.

[0029] Furthermore, the attitude rotation mechanism includes an adaptor base, a rotating motor, a flange cover, connecting screws, an induction transmitting coil, a small gear, a large gear, a retaining spring, a bearing, a transposition tube and a positioning tube;

[0030] The adapter base is placed on the top of the inclinometer tube protruding out of the monitoring hole. A boss sleeve matching the inclinometer tube is provided in the middle of the adapter base and is fastened to the inclinometer tube by radial screws. A gear box is provided above the boss sleeve to accommodate the pinion and the gear. The rotating motor is fixed on the adapter base and connected to the pinion above the rotating motor. The transmission from the pinion to the gear drives the transposition tube to rotate, providing power for the mechanism. The flange cover is installed on the top of the adapter base, and an induction transmitting coil is provided in the center of the flange cover to provide power for the induction receiving coil. To supply electromagnetic signals, a wire hole is set in the middle of the induction transmitting coil for the measuring rope to pass through; the small gear and the large gear constitute a speed reduction mechanism, and the large gear is fixed on the transposition tube to drive the transposition tube to rotate; the transposition tube is installed in the inclinometer tube protruding out of the monitoring hole, coaxially aligned with the inclinometer tube, and the size of the guide groove inside the transposition tube is consistent with the guide groove of the inclinometer tube; the lower end of the transposition tube is connected to the positioning cylinder, and the upper end is connected to the large gear; when the lifting and tilting probe completely slides into the guide groove of the transposition tube, the rotation of the transposition tube drives the lifting and tilting probe to synchronously switch between 0 degrees and 180 degrees;

[0031] The retaining spring and the bearing are sleeved on the outer wall of the transposition tube. The bearing is used to reduce the friction when the transposition tube rotates, and the retaining spring is used to prevent the transposition tube from axially moving.

[0032] The positioning tube is clamped in the inclinometer tube and located at the bottom of the transposition tube, and is kept fixed and does not rotate with the transposition tube; four convex ribs with wedge-shaped surfaces are provided on the positioning tube; the guide groove size of the transposition tube is consistent with that of the positioning tube.

[0033] Furthermore, the limit self-locking mechanism includes a self-locking unlocking device, a Hall sensor, a lifting zero point switch, and a rotating zero point switch;

[0034] The self-locking and unlocking device is installed on the rotating shaft of the winding wheel and the guide rail slider; when self-locking, the self-locking and unlocking device locks the rotating shaft of the winding wheel to prevent the measuring rope from pulling the winding wheel to rotate; after unlocking, the winding wheel rotates freely under the action of the driving force;

[0035] The Hall sensor is arranged on the guide rail assembly of the lifting power mechanism to monitor the left and right movement range of the winding wheel;

[0036] The lifting zero point switch is arranged on the upper part of the flange cover of the attitude rotating mechanism, and is used to monitor whether the lifting inclinometer probe is in the initial state of the lifting operation, that is, in the zero point position of 0 displacement;

[0037] The rotation zero point switch is arranged on the nylon flange of the attitude rotation mechanism and is used to monitor whether the transposition tube is in the starting state of the rotation operation, that is, in the zero point position of the 0 degree attitude.

[0038] Furthermore, the lifting inclinometer probe includes a guide unit assembly, a communication charging unit, and a measurement control unit;

[0039] The guide unit assembly consists of an upper guide unit and a lower guide unit, which are respectively arranged at the top and bottom of the lifting inclinometer probe to realize the lifting and sliding of the lifting inclinometer probe in the guide groove of the inclinometer tube; each upper guide unit and lower guide unit includes a guide wheel frame, a roller and a guide rod; the guide rod is a cylindrical hollow structure, the interior of which is used for cable routing, and a suspension wire threaded hole is set at one end;

[0040] The communication charging unit is arranged at the top of the upper guide unit, and is composed of a cylindrical plastic shell, a hanging wire nut located at the top of the cylindrical plastic shell, a wireless communication module and an induction charging module located inside the cylindrical plastic shell; the wireless communication module adopts near-field wireless communication technology for wireless data transmission between the host control terminal and the measurement control unit; the induction charging module includes an induction receiving coil and a charging manager for providing power replenishment to the measurement control unit; the communication charging unit is fastened to the upper guide unit through the hanging wire nut at the center of the communication charging unit; the interior of the communication charging unit is sealed with a first potting glue;

[0041] The measurement control unit is composed of a double-thread connection sleeve, a thin nut, a stainless steel connection rod, a lithium battery pack, a circuit board bracket, and an inclination measurement control integrated circuit; the double-thread connection sleeve and the thin nut are arranged at the two end positions of the measurement control unit, and are assembled with the fine-thread nut of the guide unit assembly; the stainless steel connection rod is arranged in the middle of the measurement control unit, and is a cylindrical hollow structure with a built-in lithium battery pack and a circuit board bracket; the inclination measurement control integrated circuit is fixed to the circuit board bracket by screws, and the circuit board bracket and the stainless steel connection rod are fixedly connected by an interference fit process; the two ends of the stainless steel connection rod are sealed with a second potting glue;

[0042] The inclination measurement control integrated circuit includes a probe microprocessor, and an inclination acquisition module, a communication management module, a power supply management module, and a storage module electrically connected to the probe microprocessor; the inclination acquisition module is composed of a three-axis MEMS inclination sensor and its front circuit; the communication management module is electrically connected to the wireless communication module of the communication charging unit;

[0043] One end of the lithium battery pack is electrically connected to the charging management circuit of the induction charging module of the communication charging unit, and is charged by the induction charging module. The other end of the lithium battery pack is electrically connected to the power supply management module of the inclination measurement control integrated circuit, and supplies power to the inclination measurement control integrated circuit; the wireless communication module is electrically connected to the communication management module of the inclination measurement control integrated circuit.

[0044] Furthermore, the host control terminal and the lifting inclinometer probe are both provided with near-field wireless communication modules, and wireless communication is used to complete command interaction and data transmission between the two.

[0045] Furthermore, the lifting and inclinometer probe adopts non-contact inductive charging technology, and realizes wireless energy replenishment with the help of near-field inductive coupling; when charging, the inductive transmitting coil located in the middle of the flange cover of the attitude rotation mechanism is electrically connected to the external power supply equipment to generate an electromagnetic signal; the built-in inductive receiving coil of the lifting and inclinometer probe utilizes the electromagnetic induction effect to receive the electromagnetic signal, and converts the electromagnetic signal into electric current, and then the charging manager charges the lithium battery pack of the lifting and inclinometer probe through electrical connection.

[0046] Further, the host control terminal includes a host integrated circuit, and the host integrated circuit includes a host microprocessor and its functional modules; the functional modules include: a control panel, a storage module, a communication management module connected to an external communication device, a power supply management module connected to an external power supply device, a winding motor control module and a cable arrangement motor control module for controlling a lifting power mechanism, an angle encoder acquisition module for controlling a lifting positioning mechanism, a pressure sensor acquisition module for controlling a lifting protection mechanism, a rotating motor control module for controlling a rotating posture mechanism, a self-locking and unlocking control module for controlling a limit self-locking mechanism, a Hall sensor acquisition module, a lifting zero point switch acquisition module, a rotating zero point switch acquisition module, a near-field wireless communication module for controlling a lifting inclinometer probe, and a charging switch control module;

[0047] The automatic observation device for internal tilt deformation of rock and soil bodies adopts a hierarchical processing architecture to divide motion control and data acquisition;

[0048] In the motion control, all the key actions of the lifting inclinometer probe are completed by the host control terminal through the winding motor control module, the wiring motor control module, the rotating motor control module, the charging switch control module, the zero point switch control module, the self-locking switch control module, the angle encoder acquisition module, the pressure sensor acquisition module, and the Hall sensor acquisition module, autonomously driving the lifting power mechanism, the lifting positioning mechanism, the lifting protection mechanism, the attitude rotation mechanism, and the limit self-locking mechanism. The key actions include lifting and sliding, spatial positioning, attitude adjustment, abnormality detection, zero point self-locking and power replenishment;

[0049] In data collection, the lifting inclinometer probe independently undertakes the task of collecting formation tilt data in the entire monitoring hole during the lifting and cruising process;

[0050] When the lifting inclinometer probe returns to the zero position, the host control terminal establishes contact with the lifting inclinometer probe through the near-field wireless communication module, and the host control terminal issues control instructions and receives observation data sent back by the lifting inclinometer probe.

[0051] Beneficial effects:

[0052] 1. The present invention, while retaining the technical characteristics of high-precision measurement, high spatial resolution and recycling of traditional sliding inclinometers, solves the technical limitation of the traditional sliding inclinometer that requires manual on-site data collection by means of electromechanical devices such as a host control terminal, a lifting power mechanism, a lifting positioning mechanism, a lifting protection mechanism, a posture rotation mechanism, a limit self-locking mechanism and a lifting inclinometer probe, and realizes the fully automatic and all-weather observation of the internal deformation of rock and soil bodies.

[0053] 2. The present invention can accurately measure the inclination deformation of the entire hole by using only a single lifting inclinometer probe, and supports repeated use, effectively overcoming the technical problems of existing fixed inclinometers and flexible inclinometers that require the number of sensors to be customized according to the depth of the monitoring hole, and cannot take into account the purchase cost and sensor layout density, installation stability and reusability.

[0054] 3. The present invention has miniaturized and integrated the lifting power mechanism, lifting positioning mechanism, lifting protection mechanism, attitude rotation mechanism, and limit self-locking mechanism, and they are all set on the ground. In addition, the data communication and power replenishment between the lifting inclinometer probes of the above-ground device and the underground device are both wireless. The above design not only realizes the automatic perception and control of the lifting, positioning, attitude, abnormality detection, zero-point self-locking and power replenishment of the lifting inclinometer probe, but also reduces the production and installation costs, and significantly improves the stability and reliability of the long-term operation of the entire set of equipment in harsh outdoor environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 It is a schematic diagram of the overall structure of the automatic observation device for internal tilt deformation of rock and soil bodies of the present invention;

[0056] Figure 2 It is a structural diagram of the lifting power mechanism;

[0057] Figure 3 It is a structural schematic diagram of the lifting and positioning mechanism;

[0058] Figure 4 It is a structural schematic diagram of the lifting protection mechanism;

[0059] Figure 5a , Figure 5b , Figure 5c , Figure 5d It is a structural diagram of the attitude rotation mechanism; wherein, Figure 5a is a cross-sectional view, Figure 5b This is a schematic diagram of the inclinometer tube. Figure 5c is a partial diagram of the attitude rotation mechanism, Figure 5d for Figure 5b A partial enlarged view of the part;

[0060] Figure 6 It is a structural diagram of the limit self-locking mechanism;

[0061] Figure 7a , Figure 7b It is a structural diagram of the lifting inclinometer probe; Figure 7a For the main view, Figure 7b For the exploded view;

[0062] Figure 8a , Figure 8b It is a structural schematic diagram of the guide unit assembly of the lifting inclinometer probe; wherein, Figure 8a is a side view, Figure 8b is the main view;

[0063] Figure 9a , Figure 9b This is a structural diagram of the communication and charging unit of the lifting inclinometer probe; wherein, Figure 9a is a cross-sectional view, Figure 9b is the main view;

[0064] Fig.10a , Fig.10b This is a schematic diagram of the structure of the measurement control unit of the lifting inclinometer probe; Fig.10a is a cross-sectional view, Fig.10b is the main view;

[0065] Fig.11 This is a module diagram of the inclination angle measurement control integrated circuit of the lifting inclinometer probe measurement control unit;

[0066] Fig.12 It is a schematic diagram of the contactless inductive charging process structure;

[0067] Fig.13 This is a block diagram of the host integrated circuit.

[0068] Among them, the figure marks are: 1. host control terminal, 2. lifting and positioning mechanism, 3. lifting power mechanism, 4. lifting protection mechanism, 5. attitude rotation mechanism, 6. inclinometer tube, 7. lifting and tilting probe, 8. monitoring hole, 9. limit self-locking mechanism, 21. angle encoder, 22. coupling, 23. V-shaped wheel, 24. rotating shaft, 25. encoder bracket, 26. encoder screw, 31. winding motor, 32. cable motor, 33. guide rail assembly, 34. guide rail slider, 35. lead screw, 36. winding wheel, 37. measuring rope, 41. stress sensor connecting plate, 42. stress sensor, 43. sensor screw, 44. connecting plate screw, 51. rotating motor, 52. adapter base, 53. flange cover, 54. small gear, 55. large gear, 56. induction transmitting coil, 57. connecting Connecting screws, 58. retaining ring, 59. bearing, 60. transposition tube, 61. positioning cylinder, 71. communication charging unit, 72. guide unit assembly, 73. measurement control unit, 711. first potting glue, 712. cylindrical plastic shell, 713. induction receiving coil, 714. cable, 715. wireless communication module, 721. guide wheel frame, 722. roller, 723. guide rod, 724. fine thread nut, 725. hanging wire threaded hole, 730. double thread connecting sleeve, 731. thin nut, 732. second potting glue, 733. stainless steel connecting rod, 734. inclination measurement control integrated circuit, 735. screw, 736. circuit board bracket, 737. lithium battery pack, 91. self-locking unlocking device, 92. lifting zero point switch, 93. Hall sensor, 94. rotation zero point switch. DETAILED DESCRIPTION

[0069] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0070] like Figure 1 As shown, an automatic observation device for internal inclination and deformation of a rock mass according to an embodiment of the present invention includes an above-ground device and an underground device.

[0071] The above-ground device is arranged above the opening of the monitoring hole 8 which penetrates into the rock and soil body, and is composed of a host control terminal 1, a lifting power mechanism 3, a lifting positioning mechanism 2, a lifting protection mechanism 4, a posture rotation mechanism 5 and a limit self-locking mechanism 9. The lifting positioning mechanism 2 is installed on the lifting protection mechanism 4, the lifting protection mechanism 4 is installed on the lifting power mechanism 3, and the lifting power mechanism 3 and the limit self-locking mechanism 9 are placed together on the posture rotation mechanism 5 to form an integrated structural component. The host control terminal 1 is electrically connected to the lifting power mechanism 3, the lifting positioning mechanism 2, the lifting protection mechanism 4, the posture rotation mechanism 5 and the limit self-locking mechanism 9 through cables.

[0072] The underground device is composed of an inclinometer tube 6 pre-buried in a monitoring hole 8 and a lifting inclinometer probe 7 arranged inside the inclinometer tube 6 and capable of sliding up and down along the guide groove of the inclinometer tube 6. The lifting inclinometer probe 7 has a built-in three-axis MEMS inclination sensor, which can continuously collect formation inclination data along the cruise line during the sliding process in the inclinometer tube 6.

[0073] The integrated structural assembly formed by the lifting power mechanism 3, the lifting positioning mechanism 2, the lifting protection mechanism 4, the attitude rotation mechanism 5 and the limit self-locking mechanism 9 is fixedly installed on the top of the inclinometer tube 6 protruding the monitoring hole 8, and is connected to the lifting inclinometer probe 7 through the measuring rope 37, and pulls the lifting inclinometer probe 7 to slide up and down in the inclinometer tube 6. The attitude rotation mechanism 5 has a built-in positioning cylinder 61 and a transposition tube 60, and the positioning cylinder 61 and the transposition tube 60 are located in the pipe section of the inclinometer tube 6 protruding the monitoring hole 8, ensuring that the lifting inclinometer probe 7 smoothly transitions from the inclinometer tube 6 to the transposition tube 60. Driven by the rotary motor 51 of the attitude rotation mechanism 5, the lifting inclinometer probe 7 located in the transposition tube 60 rotates synchronously with the transposition tube 60, realizing free switching between the two attitudes of 0 degrees and 180 degrees;

[0074] The lifting inclinometer probe 7 and the ground device use near-field wireless communication and electromagnetic induction technology to achieve contactless data transmission and power replenishment.

[0075] Preferably, Figure 2As shown, the lifting power mechanism 3 includes a guide rail assembly 33, a lead screw 35, a guide rail slider 34, a winding wheel 36, a winding motor 31, a wire arrangement motor 32, and a measuring rope 37; the guide rail assembly 33 is composed of a linear guide rail at the bottom and side plates at both ends of the linear guide rail; the lead screw 35 is arranged parallel to the top of the linear guide rail, one end of which passes through one side plate of the guide rail assembly 33 and is connected to the wire arrangement motor 32, and the other end is connected to the other side plate of the guide rail assembly 33; the guide rail slider 34 is arranged on the linear guide rail and connected to the lead screw 35. Under the drive of the wire arrangement motor 32, the guide rail slider 34 can move bidirectionally along the lead screw 35 by cooperating with the lead screw 35. A wire passing hole is arranged on the guide rail slider 34 to facilitate the passing of the measuring rope 37; the winding wheel 36 and the winding motor 31 are both fixed on the guide rail slider 34. The winding wheel 36 is cylindrical, and its axis is arranged parallel to the lead screw 35, and is used for winding. The winding motor 31 is coaxially connected to the winding wheel 36, driving the winding wheel 36 to rotate forward and backward; the measuring rope 37 is made of a high-strength flexible material with excellent tensile deformation resistance, preferably Dyneema high-strength polyethylene fiber. One end of the measuring rope 37 is connected to the end of the lifting inclinometer probe 7, and the other end passes upward through the wire hole of the guide rail slider 34 of the lifting power mechanism 3, the stress sensor connecting plate 41 of the lifting protection mechanism 4, and the wire hole of the stress sensor 42, bypassing the V-shaped wheel 23 of the lifting positioning mechanism 2, and winding on the winding wheel 36; the wire arrangement motor 32 drives the lead screw 35, so that the guide rail slider 34 moves accordingly, and the measuring rope 37 is arranged in order on the winding wheel 36. The winding motor 31 drives the winding wheel 36 to rotate clockwise or counterclockwise, and the lifting and lowering movement of the lifting inclinometer probe 7 is realized through the traction of the measuring rope 37.

[0076] The wire winding and arranging operation adopts the following method: the measuring rope 37 is wound around the winding wheel 36 for one circle, and the wire diameter of the measuring rope 37 is moved along the axial direction of the lead screw 35.

[0077] Preferably, the Figure 3 As shown, the lifting and positioning mechanism 2 includes an angle encoder 21, a coupling 22, a V-shaped wheel 23, a rotating shaft 24, an encoder bracket 25 and an encoder screw 26; the angle encoder 21 is connected to the V-shaped wheel 23 and the rotating shaft 24 through the coupling 22, and rotates coaxially; the measuring rope 37 is wound on the V-shaped wheel 23, and the friction between the measuring rope 37 and the V-shaped wheel 23 drives the V-shaped wheel 23 to rotate, thereby driving the angle encoder 21 to rotate synchronously; according to the number of rotations of the angle encoder 21 and the specific diameter of the V-shaped wheel 23, the current position of the lifting and tilting probe 7 and its lifting speed can be accurately calculated.

[0078] The encoder bracket 25 is firmly connected to the lifting protection mechanism 4 at the bottom via the encoder screw 26. The angle encoder 21 and the V-shaped wheel 23 are respectively installed on both sides of the encoder bracket 25 and connected to the rotating shaft 24. The coupling 22 is sleeved on the rotating shaft 24 and is located between the angle encoder 21 and the V-shaped wheel 23. The rotating shaft 24 is rotatably connected to one side of the encoder bracket 25.

[0079] Preferably, Figure 4 As shown, the lifting protection mechanism 4 includes a stress sensor connecting plate 41, a stress sensor 42, a sensor screw 43, and a connecting plate screw 44; the stress sensor connecting plate 41 is tightly connected to the two end side plates of the guide rail assembly 33 of the lifting power mechanism 3 through the connecting plate screw 44, providing a stable support for the stress sensor 42. The stress sensor 42 is fixed to the stress sensor connecting plate 41 through the sensor screw 43. The stress sensor connecting plate 41 and the stress sensor 42 are both provided with wire holes for the measuring rope 37 to pass through.

[0080] The encoder bracket 25 of the lifting and positioning mechanism 2 is reliably connected to the stress sensor 42 through the encoder screw 26 of the lifting and positioning mechanism 2. When the measuring rope 37 of the lifting and positioning mechanism 2 applies pressure to the V-shaped wheel 23, the pressure can be effectively transmitted to the stress sensor 42 through the encoder bracket 25 of the lifting and positioning mechanism 2; the stress sensor 42 can automatically detect abnormal conditions of the lifting and inclinometer probe 7 during the ascent or descent process by sensing the pressure load borne by the measuring rope 37 in real time. For example, if significant displacement occurs inside the rock and soil body, the inclinometer tube 6 may be squeezed and deformed to block the lifting and inclinometer probe 7, making it impossible to lower or lift it normally, or even "lost".

[0081] Preferably, Figure 5a , Figure 5b , Figure 5c , Figure 5d As shown, the attitude rotation mechanism 5 includes components such as an adaptor base 52, a rotating motor 51, a flange cover 53, connecting screws 57, an induction transmitting coil 56, a small gear 54, a large gear 55, a retaining spring 58, a bearing 59, a transposition tube 60 and a positioning tube 61. The adaptor base 52 is placed on the top of the inclinometer tube 6 that protrudes a little (usually 60 cm) outside the monitoring hole 8. The middle part of the adaptor base 52 is designed with a boss sleeve that matches the inclinometer tube 6, which is convenient for the inclinometer tube 6 to be inserted and fixed, and is fastened to the inclinometer tube 6 through radial screws. A gear box is arranged above the boss sleeve to accommodate the small gear 54 and the large gear 55.

[0082] The rotating motor 51 is fixedly connected to the adapter base 52 and connected to the pinion 54 above it. Through the transmission from the pinion 54 to the large gear 55, the transposition tube 60 is driven to rotate, providing power for the attitude rotation mechanism 5. The flange cover 53 is firmly installed on the top of the adapter base 52 by connecting screws 57. An induction transmitting coil 56 is arranged at the center of the flange cover 53 to provide an electromagnetic signal for the induction receiving coil 713. The flange cover 53 is made of nylon, which is convenient for electromagnetic signal penetration. A wire hole is arranged in the middle of the induction transmitting coil 56 for the measuring rope 37 to pass through. The pinion 54 and the large gear 55 constitute a speed reduction mechanism to reduce the motor speed and increase the torque. The large gear 55 is fixed on the transposition tube 60 to drive the transposition tube 60 to rotate. The transposition tube 60 is installed in the inclinometer tube 6 protruding the monitoring hole 8, coaxially aligned with the inclinometer tube 6, and the size of the internal guide groove of the transposition tube 60 is consistent with the guide groove of the inclinometer tube 6. The lower end of the transposition tube 60 is connected to the positioning cylinder 61, and the upper end is connected to the large gear 55. When the lifting and tilting probe 7 completely slides into the guide groove of the transposition tube 60, the rotation of the transposition tube 60 can drive the lifting and tilting probe 7 to synchronously switch between 0 degrees and 180 degrees. The retaining spring 58 and the bearing 59 are sleeved on the outer wall of the transposition tube 60. The bearing 59 is used to reduce the friction when the transposition tube 60 rotates, and the retaining spring 58 is used to prevent the axial stringing of the transposition tube 60. The positioning cylinder 61 is clamped in the inclinometer tube 6, located at the bottom of the transposition tube 60, and remains fixed and does not rotate with the transposition tube 60. The positioning cylinder 61 plays a positioning role when the lifting and tilting probe 7 transitions from the inclinometer tube 6 to the transposition tube 60, ensuring that the lifting and tilting probe 7 can smoothly transition when sliding between the inclinometer tube 6 and the positioning cylinder 61. The positioning tube 61 is provided with four convex ribs with wedge-shaped surfaces, and the wedge-shaped surfaces realize smooth docking of the guide groove of the inclinometer tube 6 and the guide groove of the positioning tube 61. The guide groove size of the transposition tube 6 is consistent with the guide groove of the positioning tube 61.

[0083] Preferably, Figure 6 As shown, the position-limiting self-locking mechanism 9 includes a self-locking unlocking device 91, a Hall sensor 93, a lifting zero switch 92, and a rotation zero switch 94; the self-locking unlocking device 91 is installed on the rotating shaft of the winding wheel 36 and the guide rail slider 34. When self-locking, the position-limiting self-locking mechanism 9 locks the rotating shaft of the winding wheel 36 to prevent the measuring rope 37 from pulling the winding wheel 36 to rotate. After unlocking, the winding wheel 36 can rotate freely under the action of the driving force. The Hall sensor 93 is arranged on the guide rail assembly 33 of the lifting power mechanism 3 to monitor the range of left and right movement of the winding wheel 36. The lifting zero switch 92 is arranged on the upper part of the flange cover 53 of the attitude rotation mechanism 5 to monitor whether the lifting inclinometer probe 7 is in the starting state of the lifting operation, that is, in the zero position of 0 displacement. The rotation zero switch 94 is arranged on the nylon flange of the attitude rotation mechanism 5 to monitor whether the transposition tube 60 is in the starting state of the rotation operation, that is, in the zero position of 0 degree attitude.

[0084] Preferably, Figure 7a , Figure 7b As shown, the lifting inclinometer probe 7 includes a communication charging unit 71, a guide unit assembly 72, and a measurement control unit 73. The communication charging unit 71 is located at the top of the lifting inclinometer probe 7, the measurement control unit 73 is located in the middle of the lifting inclinometer probe 7, and the communication charging unit 71 and the measurement control unit 73 are connected through the guide unit assembly 72.

[0085] like Figure 8a , Figure 8b As shown, the guide unit assembly 72 is composed of an upper guide unit and a lower guide unit, which are respectively arranged at the top and the bottom of the lifting inclinometer probe 7 to realize the lifting and sliding of the lifting inclinometer probe 7 in the guide groove of the inclinometer tube 6. The upper guide unit and the lower guide unit both include a guide wheel frame 721, a roller 722 and a guide rod 723. The guide rod 723 is a cylindrical hollow structure, the interior of which is used for routing the cable 714, and a suspension line threaded hole 725 is set at one end; each pair of rollers 722 is respectively fixed to the two ends of the guide wheel frame 721, and is used to roll in the guide groove of the inclinometer tube 6. The guide wheel frame is connected to the guide rod 723 by means of a rotating shaft and a spring device. Through the cooperation of the rotating shaft and the spring, the angle between the guide wheel frame 721 and the guide rod 723 can be flexibly adjusted to ensure that the lifting inclinometer probe 7 can be lifted and slid smoothly in the inclinometer tubes 6 of various diameters. As shown Figure 9a , Figure 9b As shown, the communication charging unit 71 is arranged at the top of the upper guide unit, and is composed of a cylindrical plastic shell 712, a wire nut located at the top of the cylindrical plastic shell 712, a wireless communication module 715 located inside the cylindrical plastic shell 712, and an induction charging module.

[0086] Preferably, the wireless communication module 715 adopts near-field wireless communication technology, preferably a LoRa module, for wireless data transmission between the host control terminal 1 and the measurement control unit 73. The inductive charging module includes an inductive receiving coil 713 and a charging manager, which is used to provide power replenishment to the measurement control unit 73. A hanging wire threaded hole 725 is provided in the center of the communication charging unit 71, and a hanging wire nut is used to achieve a fastening connection between the communication charging unit 71 and the upper guide unit. At the same time, the hanging wire nut is also used to fix the measuring rope 37 to achieve a firm connection between the measuring rope 37 and the lifting and tilting probe 7. The entire communication charging unit 71 is sealed with a first potting glue 711 to improve its durability and waterproof performance. The wireless communication module 715 is electrically connected to the measurement control unit 73 through a cable 714.

[0087] Preferably, Fig.10a , Fig.10bAs shown, the measurement control unit 73 is composed of a double-thread connection sleeve 730, a thin nut 731, a stainless steel connection rod 733, a lithium battery pack 737, a circuit board bracket 736, and an inclination measurement control integrated circuit 734. The double-thread connection sleeve 730 and the thin nut 731 are arranged at the two end positions of the measurement control unit 73, and are assembled with the fine-thread nut 724 of the guide unit assembly 72. The stainless steel connection rod 733 is arranged in the middle of the measurement control unit 73, and is a cylindrical hollow structure with a built-in lithium battery pack 737 and a circuit board bracket 736. The inclination measurement control integrated circuit 734 is fixed to the circuit board bracket 736 by screws 735, and the circuit board bracket 736 and the stainless steel connection rod 733 are fixedly connected by an interference fit process. The two ends of the stainless steel connection rod 733 are sealed with a second potting glue 732 to improve the durability and waterproof performance of the measurement control unit 73.

[0088] Preferably, Fig.11 As shown, the inclination measurement control integrated circuit 734 includes a probe microprocessor, and an inclination acquisition module, a communication management module, a power supply management module, and a storage module electrically connected to the probe microprocessor. Among them, the inclination acquisition module is composed of a three-axis MEMS inclination sensor and its front circuit. The communication management module is electrically connected to the wireless communication module 715 of the communication charging unit 71.

[0089] Preferably, Fig.12 As shown, one end of the lithium battery pack 737 is electrically connected to the charging management circuit of the inductive charging module of the communication charging unit 71 through a cable 714, and is charged by the inductive charging module. The other end of the lithium battery pack 737 is electrically connected to the power supply management module of the inclination measurement control integrated circuit 734 to supply power to the inclination measurement control integrated circuit 734. The wireless communication module 715 is electrically connected to the communication management module of the inclination measurement control integrated circuit 734 through a cable 714. The host control terminal 1 and the lifting inclinometer probe 7 are both provided with a near-field wireless communication module, and wireless communication is used to complete the instruction interaction and data transmission between the two; the lifting inclinometer probe 7 adopts non-contact inductive charging technology, and realizes wireless energy supplementation by means of near-field inductive coupling, without the need for wire connection, and the charging and discharging equipment has no exposed conductive contacts. During charging, the inductive transmitting coil 56 located in the middle of the flange cover 53 of the attitude rotation mechanism 5 is electrically connected to the external power supply device to generate an electromagnetic signal. The inductive receiving coil 713 built into the lifting and inclinometer probe 7 utilizes the electromagnetic induction effect to receive these electromagnetic signals, convert them into electric current, and then the charging manager charges the lithium battery pack 737 of the lifting and inclinometer probe 7 through electrical connection.

[0090] like Fig.13As shown, the host control terminal 1 includes a host integrated circuit, and the host integrated circuit includes a host microprocessor and its functional modules. Among them, the functional modules include: a control panel, a storage module, a communication management module connected to an external communication device, a power supply management module connected to an external power supply device, a winding motor control module and a cable arrangement motor control module for controlling the lifting power mechanism 3, an angle encoder acquisition module for controlling the lifting positioning mechanism 2, a pressure sensor acquisition module for controlling the lifting protection mechanism 4, a rotary motor control module for controlling the rotary posture mechanism 5, a self-locking and unlocking control module for controlling the limit self-locking mechanism 9, a Hall sensor acquisition module, a lifting zero point switch acquisition module, a rotating zero point switch acquisition module, a near-field wireless communication module and a charging switch control module for controlling the lifting inclinometer probe 7;

[0091] The automatic observation device for internal tilt deformation of rock and soil body of the present invention adopts a hierarchical processing architecture, which is clearly divided into action control and data acquisition, including:

[0092] In the motion control, all the key actions of the lifting inclinometer probe 7, including lifting and sliding, spatial positioning, attitude adjustment, abnormality detection, zero-point self-locking and power replenishment, are completed by the host control terminal 1 through the winding motor control module, wiring motor control module, angle encoder acquisition module, pressure sensor acquisition module, rotary motor control module, self-locking and unlocking control module, Hall sensor acquisition module, lifting zero-point switch acquisition module, rotating zero-point switch acquisition module, near-field wireless communication module, charging switch control module and other functional modules connected thereto, autonomously driving the lifting power mechanism 3, lifting positioning mechanism 2, lifting protection mechanism 4, attitude rotation mechanism 5, and limit self-locking mechanism 9. The lifting inclinometer probe 7 itself does not intervene in its motion control.

[0093] In data collection, the lifting inclinometer probe 7 independently undertakes the task of collecting the formation tilt data in the entire monitoring hole 8 during the lifting cruise. During this period, the host control terminal 1 neither participates in data collection nor establishes any communication with the lifting inclinometer probe 7.

[0094] When the lifting inclinometer probe 7 returns to the zero position, the host control terminal 1 establishes contact with the lifting inclinometer probe 7 through the near-field wireless communication module. At this time, the host control terminal 1 will issue control instructions and receive observation data transmitted back by the lifting inclinometer probe 7.

[0095] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic observation device for internal tilt deformation of rock and soil bodies, characterized in that: It comprises an above-ground device and an underground device; the above-ground device is arranged above the opening of a monitoring hole penetrating into the rock and soil body, and comprises a host control terminal, a lifting power mechanism, a lifting positioning mechanism, a lifting protection mechanism, a posture rotation mechanism and a limit self-locking mechanism; the lifting positioning mechanism is installed on the lifting protection mechanism, the lifting protection mechanism is installed on the lifting power mechanism, the lifting power mechanism and the limit self-locking mechanism are jointly arranged on the posture rotation mechanism, and the lifting power mechanism, the lifting positioning mechanism, the lifting protection mechanism, the posture rotation mechanism and the limit self-locking mechanism form an integrated structural component; the host control terminal is electrically connected to the lifting power mechanism, the lifting positioning mechanism, the lifting protection mechanism, the posture rotation mechanism and the limit self-locking mechanism through cables respectively; The underground device includes an inclinometer tube pre-buried in the monitoring hole and a lifting inclinometer probe arranged inside the inclinometer tube and capable of sliding up and down along the guide groove of the inclinometer tube; the lifting inclinometer probe has a built-in three-axis MEMS inclination sensor, which continuously collects formation inclination data along the cruise line during the sliding process in the inclinometer tube; The integrated structural component is fixedly installed on the top of the inclinometer tube of the probing monitoring hole, and is connected to the lifting inclinometer probe through a measuring rope, so as to pull the lifting inclinometer probe to slide up and down in the inclinometer tube; the attitude rotation mechanism has a built-in positioning tube and a transposition tube, and the positioning tube and the transposition tube are located in the inclinometer tube of the probing monitoring hole, so as to ensure that the lifting inclinometer probe smoothly transitions from the inclinometer tube to the transposition tube; the transposition tube is installed in the inclinometer tube of the probing monitoring hole, coaxially aligned with the inclinometer tube, and the size of the guide groove of the transposition tube is consistent with the guide groove of the inclinometer tube; the lower end of the transposition tube is connected to the positioning tube, and when the lifting inclination probe completely slides into the guide groove of the transposition tube, under the drive of the rotary motor of the attitude rotation mechanism, the lifting inclination probe is driven by the rotation of the transposition tube to synchronously switch the attitude between 0 degrees and 180 degrees; The lifting inclinometer probe and the ground device use near-field wireless communication and electromagnetic induction technology to achieve contactless data transmission and power replenishment.

2. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The lifting power mechanism includes a guide rail assembly, a lead screw, a guide rail slider, a winding wheel, a winding motor, a wire arrangement motor, and a measuring rope; The guide rail assembly is composed of a linear guide rail at the bottom and side plates at both ends thereof; The lead screw is arranged in parallel above the linear guide rail, one end of the lead screw passes through a side plate of the guide rail assembly and is connected to the cable arrangement motor, and the other end of the lead screw is connected to the other side plate of the guide rail assembly; The guide rail slider is arranged on the linear guide rail and connected to the lead screw; driven by the wire arrangement motor, the guide rail slider moves bidirectionally along the lead screw by cooperating with the lead screw; a wire hole is arranged on the guide rail slider to facilitate the passing of the measuring rope; The winding wheel and the winding motor are both fixed on the guide rail slider; the winding wheel is cylindrical, and its axis is arranged parallel to the lead screw, and is used for winding; the winding motor is coaxially connected to the winding wheel to drive the winding wheel to rotate forward and reverse; The measuring rope is made of a high-strength flexible material with excellent tensile deformation resistance. One end of the measuring rope is connected to the end of the lifting inclinometer probe, and the other end of the measuring rope passes upward through the wire hole of the guide rail slider of the lifting power mechanism, the stress sensor connecting plate of the lifting protection mechanism and the wire hole of the stress sensor, bypasses the V-shaped wheel of the lifting positioning mechanism, and is wound around the winding wheel; The wire arrangement motor drives the lead screw, causing the guide rail slider to move accordingly, arranging the measuring wires in order on the winding wheel; the winding motor drives the winding wheel to rotate clockwise or counterclockwise, and the lifting and lowering movement of the inclinometer probe is realized through the traction of the measuring wire.

3. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The lifting and positioning mechanism includes an angle encoder, a coupling, a V-shaped wheel, a rotating shaft, an encoder bracket and an encoder screw; The angle encoder is connected to the V-wheel and the rotating shaft through a coupling to rotate coaxially; The measuring rope is wound around the V-shaped wheel. The friction between the measuring rope and the V-shaped wheel drives the V-shaped wheel to rotate, thereby driving the angle encoder to rotate synchronously. The current position and lifting speed of the lifting inclinometer probe are calculated based on the number of rotations of the angle encoder and the specific diameter of the V-wheel.

4. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The lifting protection mechanism includes a stress sensor connecting plate, a stress sensor, a sensor screw, and a connecting plate screw; The stress sensor connecting plate is tightly connected to the side plates at both ends of the guide rail assembly of the lifting power mechanism through the connecting plate screws. The stress sensor is fixed to the stress sensor connecting plate through the sensor screws. The stress sensor connecting plate and the stress sensor are both provided with wire holes for passing the measuring rope. The encoder bracket of the lifting and positioning mechanism is connected to the stress sensor through the encoder screw of the lifting and positioning mechanism; when the measuring rope of the lifting and positioning mechanism applies pressure to the V-shaped wheel, it is transmitted to the stress sensor through the encoder bracket of the lifting and positioning mechanism; The stress sensor senses the load on the measuring rope in real time and automatically detects abnormal conditions of the lifting and lowering inclinometer during the ascending or descending process.

5. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The attitude rotation mechanism includes an adaptor base, a rotating motor, a flange cover, connecting screws, an induction transmitting coil, a small gear, a large gear, a retaining spring, a bearing, a transposition tube and a positioning tube; The adapter base is placed on the top of the inclinometer tube protruding out of the monitoring hole. A boss sleeve matching the inclinometer tube is provided in the middle of the adapter base, and is fastened to the inclinometer tube by radial screws; a gear box is arranged above the boss sleeve to accommodate the pinion and the gear; the rotating motor is fixed on the adapter base and connected to the pinion above the rotating motor, and the transmission from the pinion to the gear drives the transposition tube to rotate; the flange cover is installed on the top of the adapter base, and an induction transmitting coil is arranged in the center of the flange cover to provide an electromagnetic signal for the induction receiving coil , a wire hole is set in the middle of the induction transmitting coil for the measuring rope to pass through; the small gear and the large gear constitute a speed reduction mechanism, and the large gear is fixed on the transposition tube to drive the transposition tube to rotate; the transposition tube is installed in the inclinometer tube protruding from the monitoring hole, coaxially aligned with the inclinometer tube, and the size of the guide groove of the transposition tube is consistent with the guide groove of the inclinometer tube; the lower end of the transposition tube is connected to the positioning tube, and the upper end of the transposition tube is connected to the large gear; when the lifting and tilting probe completely slides into the guide groove of the transposition tube, the rotation of the transposition tube drives the lifting and tilting probe to synchronously switch between 0 degrees and 180 degrees; The retaining spring and the bearing are sleeved on the outer wall of the transposition tube, the bearing is used to reduce the friction when the transposition tube rotates, and the retaining spring is used to prevent the axial movement of the transposition tube; The positioning tube is clamped in the inclinometer tube and is located at the bottom of the transposition tube, so as to be kept fixed and not rotated with the transposition tube; four convex ribs with wedge-shaped surfaces are arranged on the positioning tube.

6. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The limit self-locking mechanism includes a self-locking unlocking device, a Hall sensor, a lifting zero point switch, and a rotating zero point switch; The self-locking and unlocking device is installed on the rotating shaft of the winding wheel and the guide rail slider of the lifting power mechanism; when self-locking, the self-locking and unlocking device locks the rotating shaft of the winding wheel to prevent the measuring rope from pulling the winding wheel to rotate; after unlocking, the winding wheel rotates freely under the action of the driving force; The Hall sensor is arranged on the guide rail assembly of the lifting power mechanism to monitor the left and right movement range of the winding wheel; The lifting zero point switch is arranged on the upper part of the flange cover of the attitude rotating mechanism, and is used to monitor whether the lifting inclinometer probe is in the initial state of the lifting operation, that is, in the zero point position of 0 displacement; The rotation zero point switch is arranged on the nylon flange of the attitude rotation mechanism and is used to monitor whether the transposition tube is in the starting state of the rotation operation, that is, in the zero point position of the 0 degree attitude.

7. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The lifting inclinometer probe comprises a guide unit assembly, a communication charging unit, and a measurement control unit; The guide unit assembly consists of an upper guide unit and a lower guide unit, which are respectively arranged at the top and bottom of the lifting inclinometer probe to realize the lifting and sliding of the lifting inclinometer probe in the guide groove of the inclinometer tube; each upper guide unit and lower guide unit includes a guide wheel frame, a roller and a guide rod; the guide rod is a cylindrical hollow structure, the interior of which is used for cable routing, and a suspension wire threaded hole is set at one end; The communication charging unit is arranged at the top of the upper guide unit, and is composed of a cylindrical plastic shell, a hanging wire nut located at the top of the cylindrical plastic shell, a wireless communication module and an induction charging module located inside the cylindrical plastic shell; the wireless communication module adopts near-field wireless communication technology for wireless data transmission between the host control terminal and the measurement control unit; the induction charging module includes an induction receiving coil and a charging manager for replenishing power to the measurement control unit; the communication charging unit is fastened to the upper guide unit through the hanging wire nut at the center of the communication charging unit; the interior of the communication charging unit is sealed with a first potting glue; The measurement control unit is composed of a double-thread connection sleeve, a thin nut, a stainless steel connection rod, a lithium battery pack, a circuit board bracket, and an inclination measurement control integrated circuit; the double-thread connection sleeve and the thin nut are arranged at the two end positions of the measurement control unit, and are assembled with the fine-thread nut of the guide unit assembly; the stainless steel connection rod is arranged in the middle of the measurement control unit, and is a cylindrical hollow structure with a built-in lithium battery pack and a circuit board bracket; the inclination measurement control integrated circuit is fixed to the circuit board bracket by screws, and the circuit board bracket and the stainless steel connection rod are fixedly connected by an interference fit process; the two ends of the stainless steel connection rod are sealed with a second potting glue; The inclination measurement control integrated circuit includes a probe microprocessor, and an inclination acquisition module, a communication management module, a power supply management module, and a storage module electrically connected to the probe microprocessor; the inclination acquisition module is composed of a three-axis MEMS inclination sensor and its front circuit; the communication management module is electrically connected to the wireless communication module of the communication charging unit; One end of the lithium battery pack is electrically connected to the charging management circuit of the induction charging module of the communication charging unit, and is charged by the induction charging module. The other end of the lithium battery pack is electrically connected to the power supply management module of the inclination measurement control integrated circuit, and supplies power to the inclination measurement control integrated circuit; the wireless communication module is electrically connected to the communication management module of the inclination measurement control integrated circuit.

8. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The host control terminal and the lifting inclinometer probe are both provided with near-field wireless communication modules, and wireless communication is used to complete command interaction and data transmission between the two.

9. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The lifting and inclinometer probe adopts non-contact inductive charging technology and realizes wireless energy replenishment with the help of near-field inductive coupling. During charging, the inductive transmitting coil located in the middle of the flange cover of the attitude rotation mechanism is electrically connected to the external power supply equipment to generate an electromagnetic signal. The built-in inductive receiving coil of the lifting and inclinometer probe utilizes the electromagnetic induction effect to receive the electromagnetic signal and converts the electromagnetic signal into electric current, and then the charging manager charges the lithium battery pack of the lifting and inclinometer probe through an electrical connection.

10. The automatic observation device for internal tilt deformation of rock and soil mass according to claim 1, characterized in that: The host control terminal includes a host integrated circuit, and the host integrated circuit includes a host microprocessor and its functional modules; the functional modules include a control panel, a storage module, a communication management module connected to an external communication device, a power supply management module connected to an external power supply device, a winding motor control module for controlling a lifting power mechanism, a wiring motor control module, an angle encoder acquisition module for controlling a lifting and positioning mechanism, a pressure sensor acquisition module for controlling a lifting protection mechanism, a rotating motor control module for controlling a rotating posture mechanism, a self-locking and unlocking control module for controlling a limit self-locking mechanism, a Hall sensor acquisition module, a lifting zero point switch acquisition module, a rotating zero point switch acquisition module, a near-field wireless communication module for controlling a lifting inclinometer probe, and a charging switch control module; The automatic observation device for internal tilt deformation of rock and soil bodies adopts a hierarchical processing architecture to divide motion control and data acquisition; In the motion control, all the key actions of the lifting inclinometer probe are completed by the host control terminal through the winding motor control module, the wiring motor control module, the rotating motor control module, the charging switch control module, the zero point switch control module, the self-locking switch control module, the angle encoder acquisition module, the pressure sensor acquisition module, and the Hall sensor acquisition module, autonomously driving the lifting power mechanism, the lifting positioning mechanism, the lifting protection mechanism, the attitude rotation mechanism, and the limit self-locking mechanism. The key actions include lifting and sliding, spatial positioning, attitude adjustment, abnormality detection, zero point self-locking and power replenishment; In data collection, the lifting inclinometer probe independently undertakes the task of collecting formation tilt data in the entire monitoring hole during the lifting and cruising process; When the lifting inclinometer probe returns to the zero position, the host control terminal establishes contact with the lifting inclinometer probe through the near-field wireless communication module, and the host control terminal issues control instructions and receives observation data sent back by the lifting inclinometer probe.

Images