Earth and rockfill dam construction period real settlement monitoring method and monitoring equipment

Abstract

The invention provides an earth and rockfill dam construction period real settlement monitoring method and monitoring equipment, and the method employs an all-terrain walking robot to carry out the high-precision GNSS receiver, achieves the autonomous plane positioning and static measurement when walking on an earth and rockfill dam filling bin surface, carries out the difference calculation with the difference correction data obtained by a reference station, and achieves the real settlement of an earth and rockfill dam. Accurate three-dimensional positioning information and displacement change data are obtained; respectively measuring after each filling layer of the filling bin surface of the earth and rockfill dam is rolled and before the next filling layer is filled, and acquiring real settlement data of the earth and rockfill dam in the construction period; and the displacement change data and the real settlement data are fed back to the all-terrain walking robot through the server for adjusting a measurement plan of the all-terrain walking robot. Compared with traditional manual measurement or fixed monitoring equipment, the system has autonomous movement and high-precision positioning capabilities.

Description

Technical Field

[0001] The present invention relates to the technical field of earth-rock dam construction monitoring, and in particular to a method and equipment for monitoring the actual settlement of an earth-rock dam during construction. Background Art

[0002] During earth-rockfill dam construction, monitoring dam settlement is a critical step in ensuring project safety and quality. Traditional settlement monitoring methods, such as water-tube settlement meters and electromagnetic settlement meters, have numerous limitations. Water-tube settlement meters are often plagued by problems such as pipe clogging, aeration, vent pipe blockage, and poor drainage. These problems lead to unstable and distorted measurements, and their results fail to fully reflect the actual dam settlement, often resulting in "missed measurements." While electromagnetic settlement meters are relatively convenient to use, they also suffer from "missed" and "under-calculated" settlement. Differences in settlement calculation methods at different measurement points can lead to significant deviations between monitoring results and actual settlement.

[0003] Furthermore, traditional monitoring methods rely heavily on manual labor. At earth-rockfill dam construction sites, surveyors face complex working environments, including environmental pollution from noise, dust, and wind, as well as extreme weather conditions such as extreme heat and cold. They also face the risk of accidents like sprains, falls, and mechanical impacts. Furthermore, manual labor is susceptible to subjective factors, and during mid- and night-shifts, surveyors may experience reduced measurement accuracy due to fatigue and sleepiness. With the continued expansion of earth-rockfill dam construction and the increasing technical requirements, traditional monitoring methods are no longer able to meet the demands of modern engineering projects for accurate, real-time, and automated settlement monitoring.

[0004] In recent years, the rapid development of satellite positioning technology, all-terrain walking robots, automated control technology, and big data analysis has provided new opportunities for innovation in earth-rockfill dam settlement monitoring. For example, RTK real-time dynamic differential positioning measurement technology has demonstrated its advantages in high precision and efficiency in engineering surveying; intelligent all-terrain walking robots are gradually maturing in their ability to operate autonomously in complex environments; and big data analysis technology enables in-depth mining and analysis of massive amounts of monitoring data, providing strong support for engineering decision-making. Introducing these advanced technologies into the field of earth-rockfill dam settlement monitoring has important practical significance. Summary of the Invention

[0005] The main purpose of the present invention is to provide a method and equipment for monitoring the actual settlement of earth-rock dams during construction, so as to solve the problems of low accuracy, low efficiency, great environmental impact and high risk of manual operation in traditional monitoring methods.

[0006] To solve the above technical problems, the technical solution adopted by the present invention is: a method for monitoring the actual settlement of an earth-rock dam during construction, the method comprising the following steps: S1. Establish a base station at the dam site, using a GNSS receiver mounted on an all-terrain walking robot as a monitoring station to establish a monitoring network for the dam filling surface. S2. Use an all-terrain walking robot equipped with a GNSS receiver to perform positioning and static measurement on the earth-rockfill dam filling surface monitoring network to obtain measurement data from the monitoring points where the monitoring stations are located; S3. The measurement data is transmitted to the server via the wireless communication module. The server performs differential calculation based on the differential correction data obtained from the reference station to obtain the three-dimensional positioning information and displacement change data of the monitoring point. S4. After each filling layer is rolled on the earth-rockfill dam surface, and before the next filling layer is filled, measurements are taken to calculate the compacted layer thickness and cumulative settlement of the filling layer, thereby obtaining actual settlement data during the construction period of the earth-rockfill dam. S5. Feedback the displacement change data and the actual settlement data to the all-terrain walking robot through the server for adjusting the measurement plan of the all-terrain walking robot.

[0007] In the preferred solution, step S2 includes: S201, planning a grid route according to the monitoring points of the earth-rock dam filling surface monitoring network, and the all-terrain walking robot walking along the grid route according to the measurement plan, executing a real-time dynamic positioning mode; S202: When the all-terrain walking robot arrives at the monitoring point, it calibrates its position through the obstacle avoidance system and determines that the absolute value of the positioning accuracy is lower than a preset threshold; S203: The all-terrain walking robot is stopped, and the GNSS receiver of the all-terrain walking robot executes a static measurement mode to receive satellite signal data, and obtain measurement data of the monitoring point where the monitoring station is located.

[0008] In the preferred solution, step S3 includes: S301, detecting the communication network signal strength through the wireless communication module, and determining whether to use the first communication mode or the second communication mode to transmit data; S302, the wireless communication module encrypts and transmits the measurement data to the server, and verifies and stores the measurement data; S303: The server receives the measurement data obtained by the monitoring station and the differential correction data obtained by the reference station, and obtains the three-dimensional positioning information and displacement change data of the monitoring point through differential calculation.

[0009] In a preferred embodiment, in step S303, satellite signal data is received by a GNSS receiver at the reference station, the observed value of the satellite signal data is compared with a theoretical value based on the known coordinates of the reference station, and the signal propagation error is calculated to generate differential correction data; The differential correction data is transmitted to the server, and the differential calculation is performed on the measurement data and the differential correction data to obtain the three-dimensional positioning information of the monitoring point; the current three-dimensional positioning information of the monitoring point is compared with the historical or initial three-dimensional positioning information to calculate the displacement change data of the monitoring point.

[0010] In the preferred embodiment, step S4 includes: S401, after each filling layer is rolled, measuring the current filling layer using an all-terrain walking robot; S402: Obtain elevation data of the compacted fill layer, and calculate the compacted layer thickness of the current fill layer in combination with the three-dimensional positioning information of the monitoring point; S403, before filling the next filling layer, re-measure the current filling layer by the all-terrain walking robot to obtain the intermittent settlement; S404, calculating the cumulative settlement of the overburden layer under the fill layer based on the compacted layer thickness of the current fill layer and the settlement during the intermittent period; S405: Add up the cumulative settlement of the overburden layers under all the filling layers during the construction period to obtain the actual settlement of the earth-rock dam during the construction period.

[0011] In the preferred solution, step S4 also includes installing a GNSS receiver on the construction equipment to obtain the loose laying thickness and compaction thickness during the construction process and transmit them to the server, combining the displacement change data and the actual settlement data to simulate the settlement changes during the construction period for adjusting the construction parameters.

[0012] In the preferred solution, in step S5, based on the actual settlement data during the construction period of the earth-rock dam, the monitoring area with abnormal settlement changes is determined; for the monitoring area with abnormal settlement changes, the grid route and measurement plan of the all-terrain walking robot are adjusted to collect updated displacement change data and actual settlement data.

[0013] In the preferred embodiment, the method further includes: S6, comparing the actual settlement data with the theoretical settlement data calculated by the layered summation method to calculate the settlement completion ratio of the earth-rock dam; if the settlement completion ratio is lower than the preset value, adjusting the deformation control measures during the construction period, the measures including adjusting any one or more of the number of rolling times, rolling speed, gradation of filling materials or filling sequence.

[0014] In a preferred embodiment, the monitoring equipment used in the method for monitoring the actual settlement of an earth-rock dam during construction comprises an all-terrain walking robot with a crawler, quadruped or wheeled chassis; The all-terrain walking robot is equipped with a power and control system and a wireless communication module. The power and control system uses a lithium battery pack and a brushless DC motor, combined with an electronic control system to control the all-terrain walking robot to walk along a grid route. The wireless communication module adopts dual communication modes, including a first communication mode of 4G or 5G communication mode and a second communication mode of Wi-Fi communication mode for data transmission and data encryption. The all-terrain walking robot is equipped with a GNSS receiver, an obstacle avoidance system, and an audible and visual warning light. The GNSS receiver of the all-terrain walking robot is connected to the power and control system and the wireless communication module. The measurement data acquired by the GNSS receiver of the all-terrain walking robot is transmitted to the server via the wireless communication module for differential calculation with the differential correction data acquired by the base station. The obstacle avoidance system includes an omnidirectional radar system and a machine vision system. The lidar sensor of the omnidirectional radar system and the camera sensor of the machine vision system are respectively installed on the all-terrain walking robot. The lidar sensor emits laser beams and receives reflected beams, which are combined with the real-time images captured by the camera sensor to identify environmental obstacles and construction scene information. The sound and light warning lights are installed on the top or front end of the all-terrain walking robot. When the all-terrain walking robot detects an obstacle through the obstacle avoidance system, the power and control system triggers the sound and light warning system, emitting a preset light signal and alarm sound to generate a warning signal.

[0015] In the preferred embodiment, the monitoring equipment also includes a base station, which includes a GNSS receiver, a GNSS receiver antenna, a data processing server and a communication device; the GNSS receiver of the base station is set on an observation pier with known coordinates, and receives satellite signal data through the GNSS receiver antenna; the data processing server is used to process the received satellite signal data and calculate differential correction data; the communication device uses network communication or a dedicated communication link to transmit the differential correction data to the server for differential calculation with the measurement data of the monitoring station. The present invention provides a method and equipment for monitoring the real settlement of an earth-rock dam during the construction period. The method comprises setting up a reference station at the dam site of the earth-rock dam, using a GNSS receiver installed on an all-terrain walking robot as a monitoring station, and establishing a monitoring network for the filling bin surface of the earth-rock dam; using the all-terrain walking robot equipped with a GNSS receiver to perform positioning and static measurement in the monitoring network for the filling bin surface of the earth-rock dam, and obtain measurement data of the monitoring point where the monitoring station is located; transmitting the measurement data to a server through a wireless communication module, and the server performing differential calculation based on the differential correction data obtained by the reference station to obtain three-dimensional positioning information and displacement change data of the monitoring point; performing measurements after each filling layer on the filling bin surface of the earth-rock dam is rolled and before the next filling layer is filled, calculating the compacted layer thickness and accumulated settlement of the filling layer, and obtaining the real settlement data during the construction period of the earth-rock dam; and feeding back the displacement change data and the real settlement data to the all-terrain walking robot through the server for adjusting the measurement plan of the all-terrain walking robot. The monitoring device includes an all-terrain walking robot with a crawler, quadruped or wheeled chassis, equipped with a GNSS receiver, an obstacle avoidance system and an audible and visual warning light. The beneficial effects of the present invention are as follows: (1) By building a precise monitoring network for the earth-rockfill dam filling surface, combined with static measurement and differential calculation technology using high-precision GNSS receivers, we can obtain millimeter-level displacement changes at monitoring points, effectively solving the problem of insufficient accuracy of traditional monitoring methods and providing more accurate data for earth-rockfill dam settlement monitoring. The high-precision sensors and advanced measurement equipment equipped on the all-terrain walking robot further improve the accuracy and reliability of the measurements.

[0016] (2) The all-terrain walking robot is equipped with multiple functional modules and can autonomously complete positioning, measurement, data transmission and other tasks according to the preset measurement plan, reducing manual operation links and improving monitoring efficiency. The autonomous navigation, obstacle avoidance and operation capabilities of the all-terrain walking robot enable it to independently complete monitoring tasks in complex construction environments, reducing the safety risks of surveyors in complex construction environments.

[0017] (3) Not only can the system obtain actual settlement data during the construction period of earth-rock dams, but it can also combine with GNSS receivers on construction equipment to obtain loose laying thickness and compaction thickness, providing rich data support for construction quality control. The all-round radar system and machine vision system collect surrounding environmental data, providing more comprehensive information for construction quality assessment and safety warning, and helping to achieve refined management of the entire earth-rock dam construction process.

[0018] (4) Real-time data transmission and feedback control enable construction personnel to promptly understand the settlement of the earth-rock dam and adjust construction measures according to the settlement completion rate, effectively avoiding potential safety hazards to the dam body caused by settlement problems and ensuring the construction quality and safety of the earth-rock dam. By adjusting the measurement plan of the all-terrain walking robot, intelligent and adaptive control of monitoring work is achieved, improving the efficiency and quality of monitoring work. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings and examples: Figure 1 It is a schematic flow chart of the method of the present invention; Figure 2 This is a schematic diagram of data transmission according to the method of the present invention; Figure 3 It is a left side view of the all-terrain walking robot in the monitoring device of the present invention; Figure 4 It is a right side view of the all-terrain walking robot in the monitoring device of the present invention; In the figure: all-terrain walking robot 1; power and control system 2; GNSS receiver 3; omnidirectional radar system 4; machine vision system 5; sound and light warning light 6. DETAILED DESCRIPTION

[0020] Example 1 like Figure 1 and 2 As shown, a method for monitoring the actual settlement of an earth-rock dam during construction period includes the following steps: S1. Establish a BeiDou satellite-based continuously operating reference station at the dam site, use a GNSS receiver mounted on an all-terrain walking robot as a monitoring station, and establish a monitoring network for the dam filling surface. S2. Use an all-terrain walking robot equipped with a GNSS receiver to perform positioning and static measurement on the earth-rockfill dam filling surface monitoring network to obtain measurement data from the monitoring points where the monitoring stations are located; S3. The measurement data is transmitted to the server via the wireless communication module. The server performs differential calculation based on the differential correction data obtained from the reference station to obtain the displacement change data of the monitoring point. S4. After each filling layer is rolled on the earth-rockfill dam surface, and before the next filling layer is filled, measurements are taken to calculate the compacted layer thickness and cumulative settlement of the filling layer, thereby obtaining actual settlement data during the construction period of the earth-rockfill dam. S5. Feedback the displacement change data and the actual settlement data to the all-terrain walking robot through the server for adjusting the measurement plan of the all-terrain walking robot.

[0021] This plan calls for one or two high-precision, continuously operating Beidou satellite-based base stations to be established within a 5km radius of the earth-rock dam site, with GNSS receivers installed on all-terrain walking robots serving as monitoring stations. Preferably, the base station's GNSS receiver and the all-terrain walking robot's GNSS receiver should use high-precision Beidou satellite system-compatible GNSS receivers with multi-band signal reception capabilities, capable of simultaneously tracking multiple satellite signals, significantly improving positioning reliability and accuracy. The all-terrain walking robot's GNSS receiver also integrates RTK (real-time dynamic positioning) measurement mode. Before construction at the earth-rock dam site, professional surveying and planning software was used to carefully plan monitoring points for the earth-rock dam's fill construction area, based on factors such as the dam's design drawings, construction techniques, and geological conditions. The even and reasonable distribution of monitoring points comprehensively reflects settlement conditions at various locations within the earth-rock dam. Monitoring points are arranged at regular intervals at different elevations and locations within the earth-rockfill dam, such as the dam crest, dam slope, and dam foundation, to establish a monitoring network for the earth-rockfill dam's fill surface. This creates a GNSS precision measurement network for deformation monitoring within the earth-rockfill dam's fill area. After determining the coordinates of the monitoring points, they are input into the microcomputer processor of the all-terrain walking robot to set the robot's measurement plan. The robot's power and control system configures the measurement parameters for each monitoring point, including the number of measurements and the measurement interval. Preferably, the number of measurements is set to two or three to ensure the accuracy of the measurement data. The measurement interval is appropriately set based on the construction progress and settlement changes. In the early stages of construction, when settlement changes significantly, the measurement interval is appropriately shortened. In the later stages of construction, when settlement stabilizes, the measurement interval can be appropriately extended.

[0022] After receiving the task instructions from the survey plan, the all-terrain walking robot, equipped with a high-precision GNSS receiver, walks on the earth-rockfill dam's fill surface, executing RTK real-time dynamic positioning measurement mode. RTK real-time dynamic positioning mode is based on the high-precision positioning technology of the GNSS global navigation satellite system. Through data transmission between the base station and the rover, the precise position of the rover is calculated in real time, providing real-time centimeter-level positioning accuracy while on the move. Autonomous planar positioning is achieved according to pre-set monitoring points. When the monitoring station arrives at the monitoring point, it performs static measurement to receive satellite signals and obtain measurement data for the monitoring point where the monitoring station is located. The measurement data includes three-dimensional coordinate data, timestamps, and satellite signal parameters. The three-dimensional coordinate data includes planar coordinates and elevation data. After the measurement of the monitoring station is completed, the measurement data is transmitted in real time to the server via a wireless communication module. The server performs real-time differential calculations based on the differential correction data sent by the base station to obtain the monitoring station's high-precision three-dimensional positioning information and calculate the millimeter-level displacement change data of the monitoring point where the monitoring station is located. After each filling layer of the earth-rock dam filling bin is rolled, and before the next filling, monitoring and statistical calculations are performed. The compaction layer thickness and intermittent settlement of the filling layer are calculated to obtain the cumulative settlement of the overburden layer under the filling layer. The cumulative settlement of all soil layers during the filling construction period is added together to obtain the actual settlement data during the earth-rock dam construction period. The server's cloud computing system is used to feed back the displacement change data and actual settlement data to the all-terrain walking robot in real time. According to the data changes, the server automatically adjusts the measurement plan of the all-terrain walking robot to ensure the continuity and accuracy of the monitoring work. This method uses advanced monitoring technology to achieve high-precision, automated monitoring of the settlement of the earth-rock dam during the construction period, obtain real settlement data in real time, and provide a scientific basis for deformation coordination control and quality control during the construction process. At the same time, it ensures the safety of the surveyors and improves the overall efficiency and reliability of the monitoring work.

[0023] Example 2 Further illustrate with reference to Example 1, Figure 1 and 2 As shown, in the preferred embodiment, step S2 includes: S201. A grid route is planned based on the monitoring points of the earth-rockfill dam filling surface monitoring network. The all-terrain walking robot walks along the grid route according to the measurement plan and performs a real-time dynamic positioning mode. S202: When the all-terrain walking robot arrives at the monitoring point, it calibrates its position through the obstacle avoidance system and determines that the absolute value of the positioning accuracy is lower than a preset threshold; S203: The all-terrain walking robot is stopped, and the GNSS receiver of the all-terrain walking robot executes a static measurement mode to receive satellite signal data, and obtain measurement data of the monitoring point where the monitoring station is located.

[0024] Under this scheme, the all-terrain robot follows the survey plan, starting from a designated starting position and moving along a grid route across the earth-rockfill dam's fill surface, executing RTK real-time dynamic positioning mode. During this movement, the robot's obstacle avoidance system operates in real time. When the robot detects an obstacle ahead, such as construction equipment or stacked materials, the system, comprised of an omnidirectional radar system and machine vision system, transmits information about the obstacle's location and shape to the robot's power and control system. Based on this information, combined with the robot's current position and motion state, the power and control system automatically plans a suitable obstacle avoidance route using a pre-programmed obstacle avoidance algorithm. The robot then adjusts its direction and speed according to the planned obstacle avoidance route, bypassing the obstacle and continuing along the grid route toward the monitoring point.

[0025] When the all-terrain walking robot arrives at the monitoring point, that is, when the monitoring station arrives at the monitoring point, it accurately calibrates its own position through the obstacle avoidance system to ensure that the absolute value of the positioning accuracy is lower than the preset threshold, preferably, the preset threshold is 3cm. At this time, the all-terrain walking robot is stopped, and the GNSS receiver carried by the all-terrain walking robot starts to execute the static measurement mode, and continuously collects multiple sets of satellite signal data, extracts the pseudorange and carrier phase observation values ​​in the satellite signal data, combines error correction and geometric solution, and outputs the measurement data of the monitoring point where the monitoring station is located. The measurement data includes three-dimensional coordinate data, timestamp and satellite signal parameters. The shortest time for static measurement is not less than 15 minutes. Preferably, the static measurement lasts for 15 to 30 minutes to obtain stable and accurate measurement data. To ensure the accuracy of the measurement data, the static measurement is repeated 2 to 3 times. After each static measurement is completed, the measurement data is stored in the local storage device of the all-terrain walking robot. In this method, the all-terrain walking robot uses the RTK real-time dynamic positioning mode for navigation positioning walking and rapid measurement; after the all-terrain walking robot arrives at the monitoring point and stops, continuous observation and measurement in the static measurement mode are used to obtain measurement data as a benchmark for settlement monitoring during the earth-rock dam construction period.

[0026] Example 3 Further illustrate with reference to Examples 1 and 2, as Figure 1 and 2 As shown, in the preferred embodiment, step S3 includes: S301, detecting the communication network signal strength through the wireless communication module, and determining whether to use the first communication mode or the second communication mode to transmit data; S302, the wireless communication module encrypts and transmits the measurement data to the server, and verifies and stores the measurement data; S303: The server receives the measurement data obtained by the monitoring station and the differential correction data obtained by the reference station, and obtains the three-dimensional positioning information and displacement change data of the monitoring point through differential calculation.

[0027] According to this solution, the GNSS receiver carried by the all-terrain walking robot transmits the acquired measurement data to the wireless communication module after completing the static measurement. The wireless communication module first detects the 4G or 5G network signal strength. If the 4G or 5G signal strength meets the transmission requirements, the first communication mode is used as the 4G or 5G communication mode for data transmission. If the 4G or 5G signal strength does not meet the requirements, the Wi-Fi network signal strength is detected. If the Wi-Fi signal strength meets the transmission requirements, the second communication mode is switched to the Wi-Fi communication mode for data transmission. If both the first communication mode and the second communication mode do not meet the requirements, the measurement data is stored and transmitted when the network is restored. During the data transmission process, the wireless communication module uses encrypted transmission technology to encrypt the measurement data, and the first communication mode or the second communication mode transmits the encrypted measurement data to the server to prevent the data from being stolen or tampered with during transmission.

[0028] The server utilizes high-performance computing chips and optimized data processing algorithms for rapid processing and analysis of large amounts of data. By storing, managing, and establishing a database for this data, it facilitates subsequent data query, analysis, and visualization. Upon receiving the measurement data, the server verifies its integrity and accuracy. If the data passes verification, it is stored in the server's database. This verified measurement data is then combined with the measurement data obtained by the monitoring station and the differential correction data obtained by the base station to perform differential calculations. This correction is used to extract precise three-dimensional positioning information, which includes the horizontal coordinates and elevation data of the monitoring point, thereby deriving the millimeter-level displacement change of the monitoring point.

[0029] In a preferred embodiment, in step S303, satellite signal data is received by a GNSS receiver at the reference station, the observed value of the satellite signal data is compared with a theoretical value based on the known coordinates of the reference station, and the signal propagation error is calculated to generate differential correction data; The differential correction data is transmitted to the server, and the differential calculation is performed on the measurement data and the differential correction data to obtain the three-dimensional positioning information of the monitoring point; the current three-dimensional positioning information of the monitoring point is compared with the historical three-dimensional positioning information to calculate the displacement change data of the monitoring point.

[0030] According to this plan, within a 5km radius of the earth-rockfill dam site, specialized geological survey equipment and technology will be used to conduct detailed geological surveys at pre-selected locations for multiple base stations. Priority will be given to areas with stable geological conditions, such as well-exposed bedrock and solid, uniform soil, to ensure the stability of the base stations and prevent geologically related benchmark point displacement from affecting measurement accuracy. Furthermore, the base stations should be located in areas with a clear view and clear of obstructions such as tall buildings or mountains to ensure good satellite signal reception. After the base station's fixed location is selected, construction will begin. The base station's GNSS receiver will be mounted on stable bedrock or a sturdy structure to ensure accurate and stable positioning. A dedicated observation pier will be cast at the selected location. The pier will be constructed of high-strength concrete and reinforced with sufficient internal steel for structural strength. The height of the pier will be determined based on the site topography and surrounding environment, ensuring that the base station's GNSS receiver antenna is a certain distance above surrounding obstacles to ensure uninterrupted satellite signal reception. Once the pier is cast and reaches its designed strength, the base station's GNSS receiver will be installed on the pier. When installing the GNSS receiver, strictly follow the device's installation manual to ensure the correct installation location and that the GNSS receiver antenna is securely installed and oriented correctly. After installation, fully debug the base station equipment. Use professional satellite signal monitoring software to monitor satellite signal reception in real time, checking whether signal strength, signal-to-noise ratio, and other indicators meet requirements. Simultaneously, use a data processing server to process and analyze satellite signal data received by the base station in real time, and test the calculation and transmission of differential correction data. This ensures that the base station can stably receive satellite signal data and accurately calculate and transmit differential correction data, providing reliable baseline data for subsequent monitoring work.

[0031] The GNSS receiver of the base station is fixed on the base station. For the fixed position of the selected base station, the precise coordinates are obtained through long-term static observation or joint measurement with the national geodetic control network. The precise coordinates are the theoretical values ​​of the known coordinates of the base station. The GNSS receiver of the base station continuously receives satellite signal data to obtain observation values ​​including pseudorange, carrier phase and Doppler frequency shift. By comparing the observed values ​​of satellite signal data with the theoretical values ​​based on the known coordinates of the base station, the signal propagation error is calculated in real time. The components of the signal propagation error include satellite orbit error, satellite clock error, and ionospheric or tropospheric delay. Differential correction data including pseudorange correction number, carrier phase correction number and error space gradient information are generated. The differential correction data is transmitted to the server for correction of the measurement data of the monitoring station.

[0032] The all-terrain walking robot's GNSS receiver serves as a monitoring station. The server receives the monitoring station's measurement data and the base station's differential correction data, ensuring consistent timestamps for the monitoring and base stations. Using the base station's differential correction data, the monitoring station's measurement data is subjected to inter-satellite and inter-station differentials to eliminate the satellite clock and orbit errors in the common signal propagation errors. The two differentials are combined to generate a double-difference carrier phase observation equation, which includes the double-difference integer ambiguities that need to be solved. A Kalman filter-based dynamic differential calculation is used to set state variables, including receiver coordinates, velocity, acceleration, receiver clock error, double-difference integer ambiguities, and ionospheric and tropospheric delay residuals. The double-difference carrier phase observation equation is associated with the state variables and jointly solved using the LAMBDA least-squares ambiguity reduction and adjustment algorithm. The ambiguities are constrained to integer characteristics, thereby optimizing the carrier phase and resolving the double-difference carrier phase integer ambiguities. These ambiguities are then substituted into the double-difference carrier phase observation equation to re-obtain the receiver coordinates, i.e., the three-dimensional positioning information of the monitoring point, thereby improving positioning accuracy. Calculate the historical three-dimensional positioning information of the same monitoring point at different time stamps, that is, calculate the displacement of the current three-dimensional positioning information of the monitoring point and the historical three-dimensional positioning information; or calculate the displacement relative to the initial position, that is, set the initial positioning information of the monitoring point, and calculate the displacement of the current three-dimensional positioning information and the initial three-dimensional positioning information. The displacement is the millimeter-level displacement change data of the current monitoring point.

[0033] Example 4 Further illustrate with reference to Examples 1 to 3, Figure 1 and 2 As shown, in the preferred embodiment, step S4 includes: S401, after each filling layer is rolled, use the all-terrain walking robot to measure the current filling layer; S402: Obtain elevation data of the compacted fill layer, and calculate the compacted layer thickness of the current fill layer in combination with the three-dimensional positioning information of the monitoring point; S403, before filling the next filling layer, re-measure the current filling layer by the all-terrain walking robot to obtain the intermittent settlement; S404, calculating the cumulative settlement of the overburden layer under the fill layer based on the compacted layer thickness of the current fill layer and the settlement during the intermittent period; S405: Add up the cumulative settlement of the overburden layers under all the filling layers during the construction period to obtain the actual settlement of the earth-rock dam during the construction period.

[0034] According to this solution, after each fill layer on the earth-rockfill dam's surface is compacted, an all-terrain robot measures the current fill layer according to a pre-set measurement plan. Using the robot's onboard GNSS receiver, the robot acquires point cloud data from the compacted fill layer to extract elevation data. Combined with the 3D positioning information of the monitoring station's location, the robot's 3D positioning ensures the coordinate system of the fill layer remains consistent before and after compaction. The elevation data of the current fill layer after compaction is spatially overlaid with the elevation data before compaction to calculate the elevation difference, representing the compacted layer thickness of the current fill layer. Because the fill surface of an earth-rockfill dam is uneven due to coarse aggregate, single-point elevation measurements cannot represent the overall thickness. Therefore, spatial overlay analysis using point cloud data replaces simple point elevation calculations to ensure spatial continuity. Before the next fill layer begins, the robot remeasures the area. The difference between the remeasured elevation data and the post-compacted elevation data represents the intermittent settlement.

[0035] Due to the influence of load accumulation on deep soil, the cumulative settlement of the cover layer under the filling layer is calculated by combining the thickness of the compacted layer and the settlement during the intermittent period, that is, the total settlement of the existing cover layer under the current filling layer under the action of the historical filling load. The self-compression of the filling layer is calculated according to the thickness of the compacted layer, which can be expressed as ,in, is the compacted layer thickness of the i-th filling layer, is the compression index of the soil in the i-th filling layer, is the initial effective stress of the i-th filling layer, is the additional stress applied to the i-th filling layer. The cumulative settlement of the overburden layer under the filling layer can be expressed as ,in, is the intermittent settlement of the i-th filling layer, is the self-compression of the i-th fill layer. The actual settlement of the earth-rockfill dam during construction is obtained by adding up the cumulative settlement of the overburden layer under all fill layers during the construction period.

[0036] In the preferred solution, step S4 also includes installing a GNSS receiver on the construction equipment to obtain the loose laying thickness and compaction thickness during the construction process and transmit them to the server, combining the displacement change data and the actual settlement data to simulate the settlement changes during the construction period for adjusting the construction parameters.

[0037] This solution also combines the satellite signal data sent by GNSS receivers installed on rollers, pavers, and other construction equipment in the intelligent rolling system to obtain the loose laying thickness and compacted thickness in real time during the construction process. The loose laying thickness is calculated by taking the spatial difference between the paver scraper elevation trajectory and the pre-construction elevation data. The compacted thickness is then determined by establishing a correspondence between the rolling wheel track and the loose laying layer through a time-space mapping algorithm. Based on the loose laying thickness and compacted thickness during the construction process, combined with displacement change data and actual settlement data, a digital model of the settlement of the fill layer during the construction period is constructed to simulate the settlement change process during the construction period. This model is used to optimize construction parameters such as rolling parameters and fill layer thickness design to improve construction efficiency.

[0038] Example 5 Further illustrate with reference to Examples 1 to 4, Figure 1 and 2 As shown, in the preferred embodiment, in step S5, Based on the actual settlement data during the construction period of the earth-rock dam, the monitoring areas with abnormal settlement changes are determined; for the monitoring areas with abnormal settlement changes, the grid route and measurement plan of the all-terrain walking robot are adjusted to collect updated displacement change data and actual settlement data.

[0039] With this solution, the server's cloud computing system will obtain the actual settlement data and provide real-time feedback to the all-terrain walking robot. Based on the displacement change data and the actual settlement data, the server automatically adjusts the measurement plan of the all-terrain walking robot. When the settlement changes in a certain area are abnormal, the server increases the measurement frequency of the monitoring points in that area; based on the actual situation at the construction site, the grid route of the all-terrain walking robot is optimized to improve measurement efficiency. Preferably, abnormal settlement changes include the settlement rate of the actual settlement data of a single point being greater than the preset value, the settlement gradient difference of the actual settlement data of adjacent monitoring points being greater than the standard deviation, or the actual settlement data being greater than the design value and the settlement rate not being attenuated.

[0040] In the preferred embodiment, the method further includes: S6, comparing the actual settlement data with the theoretical settlement data calculated by the layered summation method to calculate the settlement completion ratio of the earth-rock dam; if the settlement completion ratio is lower than the preset value, adjusting the deformation control measures during the construction period, the measures including adjusting any one or more of the number of rolling times, rolling speed, gradation of filling materials or filling sequence.

[0041] This solution compares actual settlement data with theoretical settlement data calculated using the layered summation method outlined in the "Design Specifications for Roller-Compacted Earth-Rockfill Dams," providing real-time information on the earth-rockfill dam's settlement completion ratio. Construction managers review the data and analyze the results using specialized monitoring software or platforms. If the settlement completion ratio falls outside a preset range, construction personnel adjust deformation control measures during construction based on the data. These measures include adjusting the number of rolls and speed of the roller, optimizing the gradation and placement sequence of the fill materials, and other measures to achieve coordinated deformation of the earth-rockfill dam and ensure the quality and safety of the dam construction.

[0042] Example 6 Further illustrate with reference to Examples 1 to 5, Figures 1 to 4 As shown, in the preferred embodiment, the monitoring equipment used in the method for monitoring the actual settlement of an earth-rock dam during construction comprises an all-terrain walking robot with a crawler, quadruped or wheeled chassis; The all-terrain walking robot is equipped with a power and control system and a wireless communication module. The power and control system uses a lithium battery pack and a brushless DC motor, combined with an electronic control system to control the all-terrain walking robot to walk along a grid route. The wireless communication module adopts dual communication modes, including a first communication mode of 4G or 5G communication mode and a second communication mode of Wi-Fi communication mode for data transmission and data encryption. The all-terrain walking robot is equipped with a GNSS receiver, an obstacle avoidance system, and an audible and visual warning light. The GNSS receiver of the all-terrain walking robot is connected to the power and control system and the wireless communication module. The measurement data acquired by the GNSS receiver of the all-terrain walking robot is transmitted to the server via the wireless communication module for differential calculation with the differential correction data acquired by the base station. The obstacle avoidance system includes an omnidirectional radar system and a machine vision system. The lidar sensor of the omnidirectional radar system and the camera sensor of the machine vision system are respectively installed on the all-terrain walking robot. The lidar sensor emits laser beams and receives reflected beams, which are combined with the real-time images captured by the camera sensor to identify environmental obstacles and construction scene information. The sound and light warning lights are installed on the top or front end of the all-terrain walking robot. When the all-terrain walking robot detects an obstacle through the obstacle avoidance system, the power and control system triggers the sound and light warning system, emitting a preset light signal and alarm sound to generate a warning signal.

[0043] According to this solution, the all-terrain walking robot is placed in a flat, open area to facilitate equipment installation and commissioning operations. The all-terrain walking robot adopts a crawler, quadruped or wheeled chassis. This embodiment adopts an all-terrain walking robot with a wheeled chassis. Through a high-strength lightweight alloy frame, equipped with all-terrain off-road tires, the tread has a deep anti-skid pattern design to increase friction with the ground, ensuring that the all-terrain walking robot can walk stably on the muddy and rugged terrain of the earth-rock dam construction site without slipping or sinking. The wheelbase and suspension travel are optimized, and the independent shock-absorbing system automatically adapts to the terrain to reduce vibration when the equipment is working. The special hub structure reduces the risk of sinking on soft ground and provides a stable support platform for the equipment on board.

[0044] The all-terrain robot's power and control system utilizes a high-performance lithium-ion battery pack, boasting high energy density and excellent charge-discharge efficiency, capable of meeting the robot's power needs for extended, continuous operation. The drive motor utilizes a high-torque, low-speed brushless DC motor, coupled with an advanced electronic control system to precisely control the robot's speed and steering angle. The electronic control system integrates advanced motion control algorithms, automatically adjusting motor output power based on pre-set paths and real-time environmental information, ensuring the robot accurately follows its planned route and exhibits excellent maneuverability and flexibility.

[0045] Install the wireless communication module in a location that optimizes signal reception and transmission on the all-terrain robot. Choose an open area on the top or side of the robot to avoid signal obstruction. Connect the wireless communication module's power and data cables to ensure proper communication with the robot's power and control system and GNSS receiver. After installation, debug the wireless communication module, set 4G or 5G and Wi-Fi communication parameters, and test the stability and speed of data transmission between the module and the server.

[0046] Securely mount the high-precision GNSS receiver on the all-terrain robot's dedicated mounting bracket, ensuring it is securely mounted and does not affect the robot's normal operation. Connect the GNSS receiver to the power and control system to ensure a stable power supply. Also, connect the GNSS receiver's data cable to the wireless communication module to transmit received satellite signals. The GNSS receiver's integrated high-precision clock module offers nanosecond-level time synchronization accuracy, ensuring the accuracy of the time reference during signal processing and thus improving positioning accuracy.

[0047] The obstacle avoidance system comprises an omnidirectional radar system and a machine vision system. The radar sensor of the omnidirectional radar system is mounted on the top of the all-terrain robot, ensuring 360-degree awareness of the surrounding environment. The camera sensor of the machine vision system is installed at different locations on the all-terrain robot according to different functional requirements. For example, the camera for forward field of view is mounted at a higher position on the front of the all-terrain robot, while the camera for side environmental monitoring is mounted at a suitable position on the side of the all-terrain robot. During installation, the angle of the camera sensor is adjusted to ensure the field of view meets the monitoring requirements. After installation, the omnidirectional radar system and machine vision system are calibrated and debugged. By simulating different obstacle and environmental scenarios, their obstacle recognition and detection capabilities are tested to ensure that the system can accurately perceive the surrounding environment. The obstacle avoidance system precisely detects the location and distance of obstacles by emitting laser beams and receiving reflected beams, with ranging accuracy at the centimeter level. This is also assisted by the machine vision system for obstacle avoidance.

[0048] The audible and visual warning light consists of a high-brightness LED and a high-decibel siren. It should be mounted in a conspicuous location on the all-terrain robot, such as on the top or front. Connect the power and control cables to the audible and visual warning light to ensure it operates properly under the control of the power and control system. When the robot's obstacle avoidance system detects an obstacle or other abnormality, the power and control system immediately triggers the audible and visual warning light. The LED light emits a bright, flashing light that is clearly visible even in dimly lit construction environments, while the siren emits a loud sound to attract the attention of surrounding construction workers, prompting them to move out of the way and ensure safety on the construction site. The audible and visual warning light's warning mode can be set to suit different scenarios, such as continuous flashing and a high-frequency siren for emergencies, or intermittent flashing and a low-frequency siren for general warnings.

[0049] In the preferred embodiment, the monitoring equipment also includes a base station, which includes a GNSS receiver, a GNSS receiver antenna, a data processing server and a communication device; the GNSS receiver of the base station is set on an observation pier with known coordinates, and receives satellite signal data through the GNSS receiver antenna; the data processing server is used to process the received satellite signal data and calculate differential correction data; the communication device uses network communication or a dedicated communication link to transmit the differential correction data to the server for differential calculation with the measurement data of the monitoring station.

[0050] This plan establishes one or two high-precision, Beidou-based, continuously operating base stations within 5km of the earth-rock dam site. The base station's GNSS receiver is mounted on stable bedrock or a sturdy structure. For example, after the observation pier is cast and reaches its designed strength, a high-precision GNSS receiver is installed to ensure accurate and stable positioning. The GNSS receiver integrates a high-precision clock module with nanosecond-level time synchronization accuracy, ensuring the accuracy of the time reference during signal processing and thus improving positioning accuracy. The base station's GNSS receiver antenna is elevated a certain distance above surrounding obstacles. Its high-gain, low-elevation-angle design effectively receives signals from low-elevation-angle satellites, minimizing signal loss due to terrain and building obstructions. Even in the complex construction environment of an earth-rock dam, stable satellite signal reception ensures measurement continuity and accuracy.

[0051] Satellite signal data is received via a specialized GNSS receiver antenna. A data processing server processes and analyzes this data in real time, calculating differential corrections for the satellite signals. This correction data is then sent to the server via a communication device, such as a 4G or 5G network or a dedicated communication link. The server then performs differential calculations using the measurement data from the monitoring station and the differential correction data from the reference station. This eliminates the effects of common satellite signal errors, such as satellite orbit errors and delays, and achieves high-precision positioning measurements.

[0052] The above embodiments are merely preferred technical solutions of the present invention and should not be construed as limiting the present invention. The scope of protection of the present invention shall be the technical solutions set forth in the claims, including equivalent alternatives to the technical features of the technical solutions set forth in the claims. In other words, equivalent alternatives and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for monitoring the actual settlement of an earth-rock dam during construction, characterized by: The method comprises the following steps: S1. Establish a base station at the dam site, using a GNSS receiver mounted on an all-terrain walking robot as a monitoring station to establish a monitoring network for the dam filling surface. S2. Use an all-terrain walking robot equipped with a GNSS receiver to perform positioning and static measurement on the earth-rockfill dam filling surface monitoring network to obtain measurement data from the monitoring points where the monitoring stations are located; S3. The measurement data is transmitted to the server via the wireless communication module. The server performs differential calculation based on the differential correction data obtained from the reference station to obtain the three-dimensional positioning information and displacement change data of the monitoring point. S4. After each filling layer is rolled on the earth-rockfill dam surface, and before the next filling layer is filled, measurements are taken to calculate the compacted layer thickness and cumulative settlement of the filling layer, thereby obtaining the actual settlement data during the construction period of the earth-rockfill dam. S5. Feedback the displacement change data and the actual settlement data to the all-terrain walking robot through the server for adjusting the measurement plan of the all-terrain walking robot.

2. The method for monitoring the actual settlement of an earth-rock dam during construction according to claim 1 is characterized by: Step S2 includes: S201, planning a grid route according to the monitoring points of the earth-rock dam filling surface monitoring network, and the all-terrain walking robot walking along the grid route according to the measurement plan, executing a real-time dynamic positioning mode; S202: When the all-terrain walking robot arrives at the monitoring point, it calibrates its position through the obstacle avoidance system and determines that the absolute value of the positioning accuracy is lower than a preset threshold; S203: The all-terrain walking robot is stopped, and the GNSS receiver of the all-terrain walking robot executes a static measurement mode to receive satellite signal data, and obtain measurement data of the monitoring point where the monitoring station is located.

3. The method for monitoring the actual settlement of an earth-rock dam during construction according to claim 1 is characterized by: Step S3 includes: S301, detecting the communication network signal strength through the wireless communication module, and determining whether to use the first communication mode or the second communication mode to transmit data; S302, the wireless communication module encrypts and transmits the measurement data to the server, and verifies and stores the measurement data; S303: The server receives the measurement data obtained by the monitoring station and the differential correction data obtained by the reference station, and obtains the three-dimensional positioning information and displacement change data of the monitoring point through differential calculation.

4. The method for monitoring the actual settlement of an earth-rock dam during construction according to claim 3 is characterized by: In step S303, satellite signal data is received by the GNSS receiver of the reference station, the observed value of the satellite signal data is compared with the theoretical value based on the known coordinates of the reference station, and the signal propagation error is calculated to generate differential correction data; The differential correction data is transmitted to the server, and the differential calculation is performed on the measurement data and the differential correction data to obtain the three-dimensional positioning information of the monitoring point; the current three-dimensional positioning information of the monitoring point is compared with the historical or initial three-dimensional positioning information to calculate the displacement change data of the monitoring point.

5. The method for monitoring the actual settlement of an earth-rock dam during construction according to claim 1 is characterized by: Step S4 includes: S401, after each filling layer is rolled, measuring the current filling layer using an all-terrain walking robot; S402: Obtain elevation data of the compacted fill layer, and calculate the compacted layer thickness of the current fill layer in combination with the three-dimensional positioning information of the monitoring point; S403, before filling the next filling layer, re-measure the current filling layer by the all-terrain walking robot to obtain the intermittent settlement; S404, calculating the cumulative settlement of the overburden layer under the fill layer based on the compacted layer thickness of the current fill layer and the settlement during the intermittent period; S405: Add up the cumulative settlement of the overburden layers under all the filling layers during the construction period to obtain the actual settlement of the earth-rock dam during the construction period.

6. The method for monitoring the actual settlement of an earth-rock dam during construction according to claim 5 is characterized by: Step S4 also includes installing a GNSS receiver on the construction equipment to obtain the loose laying thickness and compaction thickness during the construction process and transmit them to the server. Combined with the displacement change data and the actual settlement data, the settlement changes during the construction period are simulated to adjust the construction parameters.

7. The method for monitoring the actual settlement of an earth-rock dam during construction according to claim 1 is characterized by: In step S5, based on the actual settlement data during the earth-rock dam construction period, the monitoring area with abnormal settlement changes is determined; for the monitoring area with abnormal settlement changes, the grid route and measurement plan of the all-terrain walking robot are adjusted to collect updated displacement change data and actual settlement data.

8. The method for monitoring the actual settlement of an earth-rock dam during construction according to claim 1 is characterized by: The method further includes: S6, comparing the actual settlement data with the theoretical settlement data calculated by the layered summation method to calculate the settlement completion ratio of the earth-rock dam; if the settlement completion ratio is lower than a preset value, adjusting the deformation control measures during the construction period, the measures including adjusting any one or more of the number of rolling times, the rolling speed, the gradation of the filling material, or the filling sequence.

9. The monitoring equipment for the method for monitoring the actual settlement of an earth-rockfill dam during construction according to any one of claims 1 to 8, characterized in that: Monitoring equipment includes all-terrain walking robots with tracked, quadruped or wheeled chassis; The all-terrain walking robot is equipped with a power and control system and a wireless communication module. The power and control system uses a lithium battery pack and a brushless DC motor, combined with an electronic control system to control the all-terrain walking robot to walk along a grid route. The wireless communication module adopts dual communication modes, including a first communication mode of 4G or 5G communication mode and a second communication mode of Wi-Fi communication mode for data transmission and data encryption. The all-terrain walking robot is equipped with a GNSS receiver, an obstacle avoidance system, and an audible and visual warning light. The GNSS receiver of the all-terrain walking robot is connected to the power and control system and the wireless communication module. The measurement data acquired by the GNSS receiver of the all-terrain walking robot is transmitted to the server via the wireless communication module for differential calculation with the differential correction data acquired by the base station. The obstacle avoidance system includes an omnidirectional radar system and a machine vision system. The lidar sensor of the omnidirectional radar system and the camera sensor of the machine vision system are respectively installed on the all-terrain walking robot. The lidar sensor emits laser beams and receives reflected beams, which are combined with the real-time images captured by the camera sensor to identify environmental obstacles and construction scene information. The sound and light warning lights are installed on the top or front end of the all-terrain walking robot. When the all-terrain walking robot detects an obstacle through the obstacle avoidance system, the power and control system triggers the sound and light warning system, emitting a preset light signal and alarm sound to generate a warning signal.

10. The monitoring equipment for the method for monitoring the actual settlement of an earth-rock dam during construction according to claim 9 is characterized by: The monitoring equipment also includes a base station, which includes a GNSS receiver, a GNSS receiver antenna, a data processing server and communication equipment; The GNSS receiver of the base station is placed on an observation tower at a known coordinate location, and satellite signal data is received through the GNSS receiver antenna. The received satellite signal data is processed using a data processing server to calculate differential correction data. The communication equipment uses network communication or dedicated communication links to transmit the differential correction data to the server for differential calculation with the measurement data of the monitoring station.

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