A real settlement monitoring method and monitoring device for earth-rock dam during construction period

Abstract

The application provides a real settlement monitoring method and monitoring equipment for earth and rockfill dam construction period, adopts a full-terrain walking robot to carry a high-precision GNSS receiver, realizes autonomous plane positioning and static measurement when walking on the earth and rockfill dam filling yard, carries out differential calculation with the differential correction data obtained by the reference station, obtains accurate three-dimensional positioning information and displacement change data, measures after each filling layer of the earth and rockfill dam filling yard is rolled and before the next filling layer is filled, respectively, and obtains the real settlement data of the earth and rockfill dam construction period, and feeds back the displacement change data and the real settlement data to the full-terrain walking robot through a server, which is used for adjusting the measurement plan of the full-terrain walking robot. Compared with the traditional manual measurement or fixed monitoring equipment, the application has autonomous movement and high-precision positioning capability.

Description

Technical Field

[0001] This invention relates to the field of earth-rock dam construction monitoring technology, and in particular to a method and equipment for monitoring the actual settlement during the construction period of an earth-rock dam. Background Technology

[0002] In the construction of earth-rock dams, dam settlement monitoring is a crucial step in ensuring project safety and quality. Traditional settlement monitoring methods, such as water-tube settling meters and electromagnetic settling meters, have many limitations. Water-tube settling meters are often plagued by problems such as water pipe siltation, air mixing, ventilator blockage, and poor drainage, leading to unstable and distorted measurements. Furthermore, their results cannot fully reflect the actual settlement of the dam body, resulting in "missed measurements." While electromagnetic settling meters are relatively convenient to use, they also suffer from "missed measurements" and "inaccurate calculations" of settlement. Differences in settlement calculation methods at different measuring points cause significant deviations between monitoring results and actual settlement.

[0003] Furthermore, traditional monitoring methods largely rely on manual operation. At earth-rock dam construction sites, surveyors face complex working environments, including environmental pollution such as noise, dust, and sandstorms, as well as the effects of extreme weather conditions like extreme heat and cold. They also face risks of sprains, falls, and mechanical damage. Moreover, manual operation is susceptible to subjective factors; during afternoon and night shifts, surveyors may experience reduced accuracy due to fatigue. With the continuous expansion of earth-rock dam construction and increasingly stringent technical requirements, traditional monitoring methods are no longer sufficient to meet the demands of modern engineering projects for accuracy, real-time performance, and automation in settlement monitoring.

[0004] In recent years, the rapid development of satellite positioning technology, all-terrain walking robot technology, automated control technology, and big data analysis technology has provided new opportunities for innovation in earth-rock dam settlement monitoring technology. For example, RTK real-time dynamic differential positioning measurement technology has demonstrated advantages of high precision and high efficiency in the field of engineering surveying; intelligent all-terrain walking robots are gradually maturing their autonomous operation capabilities in complex environments; and big data analysis technology can deeply mine and analyze massive amounts of monitoring data, providing strong support for engineering decision-making. Introducing these advanced technologies into the field of earth-rock dam settlement monitoring has significant practical implications. Summary of the Invention

[0005] The main objective of this invention is to provide a method and equipment for monitoring the actual settlement during the construction period of earth-rock dams, thereby solving the problems of low accuracy, low efficiency, great susceptibility to environmental influences, and high risks associated with manual operation in traditional monitoring methods.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a method for monitoring the actual settlement during the construction period of an earth-rock dam, the method comprising the following steps: S1. Establish a benchmark station in the dam site area of ​​the earth-rock dam, and use the GNSS receiver installed on the all-terrain walking robot as a monitoring station to establish a monitoring network for the earth-rock dam filling surface. S2. Using an all-terrain walking robot equipped with a GNSS receiver, positioning and static measurement are performed on the earth-rock dam filling surface monitoring network to obtain measurement data of the monitoring points where the monitoring station is located. S3. The measurement data is transmitted to the server via the wireless communication module. The server performs differential calculations based on the differential correction data obtained from the base station to obtain the three-dimensional positioning information and displacement change data of the monitoring point. S4. After each filling layer of the earth-rock dam filling site is compacted and before the next filling layer is filled, measurements are taken to calculate the compacted layer thickness and cumulative settlement of the filling layer, and to obtain the actual settlement data during the construction period of the earth-rock dam. S5. The displacement change data and actual settlement data are fed back to the all-terrain walking robot through the server to adjust the measurement plan of the all-terrain walking robot.

[0007] In the preferred embodiment, step S2 includes: S201, planning a grid route based on 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 reaches the monitoring point, it calibrates its position through the obstacle avoidance system to determine that the absolute value of the positioning accuracy is lower than the preset threshold. S203. The all-terrain walking robot is brought to a standstill, and the GNSS receiver of the all-terrain walking robot is used to execute the static measurement mode to receive satellite signal data and obtain the measurement data of the monitoring point where the monitoring station is located.

[0008] In the preferred embodiment, step S3 includes: S301, detecting the signal strength of the communication network 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 measurement data obtained from the monitoring station and differential correction data obtained from the base station, and obtains the three-dimensional positioning information and displacement change data of the monitoring point through differential calculation.

[0009] In the preferred embodiment, in step S303, satellite signal data is received by the GNSS receiver of the reference station, and the observed value of the satellite signal data is compared with the theoretical value based on the known coordinates of the reference station to calculate the signal propagation error and generate differential correction data. The differential correction data is transmitted to the server, and differential calculation is performed by combining 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 fill layer is compacted, an all-terrain walking robot is used to measure the current fill layer; S402. Obtain the elevation data of the compacted filling layer after rolling, and calculate the thickness of the compacted layer of the current filling layer by combining the three-dimensional positioning information of the monitoring points. S403. Before the next filling layer is filled, the current filling layer is re-measured using an all-terrain walking robot to obtain the settlement during the intermittent period. S404. Calculate the cumulative settlement of the overburden layer beneath the current fill layer based on the current compaction layer thickness and the settlement during the intermittent period. S405. Add up the cumulative settlement of all the overlying soil layers under the fill layers during the construction period to obtain the actual settlement during the construction period of the earth-rock dam.

[0011] In the preferred embodiment, step S4 further includes installing a GNSS receiver on the construction equipment to acquire the loose paving thickness and compacted thickness during the construction process and transmit them to the server. Combined with displacement change data and actual settlement data, the settlement changes during the construction period are simulated to adjust the construction parameters.

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

[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, and calculating the settlement completion rate of the earth-rock dam; if the settlement completion rate is lower than the preset value, adjusting the deformation control measures during construction, the measures including adjusting one or more of the following: the number of compaction cycles, the compaction speed, the gradation of the filling material, or the filling sequence.

[0014] In the preferred embodiment, the monitoring equipment used for the actual settlement monitoring method during the construction period of the earth-rock dam includes an all-terrain walking robot with a tracked, quadrupedal, 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 DC brushless 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, which are used for data transmission and data encryption. The all-terrain walking robot is equipped with a GNSS receiver, an obstacle avoidance system, and audible and visual warning lights. 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 through the wireless communication module for differential calculation with the differential correction data acquired by the base station. The obstacle avoidance system includes an all-around radar system and a machine vision system. The lidar sensor of the all-around radar system and the camera sensor of the machine vision system are respectively installed on the all-terrain walking robot. The lidar sensor emits a laser beam and receives the reflected beam. Combined with the real-time images captured by the camera sensor, it is used to identify obstacles in the environment and construction scene information. The audible and visual warning lights are installed on the top or front 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 audible and visual warning system to emit preset light signals and alarm sounds, generating a warning signal.

[0015] In the preferred embodiment, the monitoring equipment also includes a reference station, which comprises a GNSS receiver, a GNSS receiver antenna, a data processing server, and communication equipment. The GNSS receiver of the reference station is placed on an observation pier at a known coordinate location and receives satellite signal data through the GNSS receiver antenna. The data processing server processes the received satellite signal data and calculates differential correction data. The communication equipment uses network communication or a dedicated communication link to transmit the differential correction data to the server for differential calculation with the measurement data from the monitoring station. This invention provides a method and equipment for monitoring the actual settlement during the construction period of an earth-rock dam. The method includes establishing a reference station at the dam site and using a GNSS receiver mounted on an all-terrain walking robot as a monitoring station to create a monitoring network for the earth-rock dam fill surface. The all-terrain walking robot, equipped with a GNSS receiver, performs positioning and static measurements within the monitoring network to acquire measurement data at the monitoring points. The measurement data is transmitted to a server via a wireless communication module. The server performs differential calculations based on the differential correction data acquired from the reference station to obtain the three-dimensional positioning information and displacement change data of the monitoring points. Measurements are taken after each fill layer is compacted and before the next fill layer is constructed to calculate the compacted layer thickness and cumulative settlement of the fill layer, obtaining the actual settlement data during the earth-rock dam construction period. The server feeds back the displacement change data and actual settlement data to the all-terrain walking robot to adjust its measurement plan. The monitoring equipment includes an all-terrain walking robot with a tracked, quadrupedal, or wheeled chassis, equipped with a GNSS receiver, an obstacle avoidance system, and audible and visual warning lights. The beneficial effects of this invention are as follows: (1) By constructing a precise monitoring network for the filling surface of earth-rock dams, and combining static measurement and differential calculation technology with high-precision GNSS receivers, millimeter-level displacement changes at monitoring points can be obtained, effectively solving the problem of insufficient accuracy in traditional monitoring methods and providing more accurate data for earth-rock dam settlement monitoring. The high-precision sensors and advanced measurement equipment carried by the all-terrain walking robot further improve the accuracy and reliability of the measurement.

[0016] (2) The all-terrain walking robot is equipped with a variety of functional modules and can autonomously complete tasks such as positioning, measurement, and data transmission according to a preset measurement plan, reducing manual operation 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 for surveyors in complex construction environments.

[0017] (3) It can not only obtain real settlement data during the construction period of earth-rock dams, but also obtain loose thickness and compacted thickness by combining the GNSS receiver on the construction equipment, 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 early warning, which helps to achieve refined management of the entire process of earth-rock dam construction.

[0018] (4) Real-time data transmission and feedback control enable construction personnel to understand the settlement of the earth-rock dam in a timely manner, adjust construction measures promptly according to the settlement completion rate, effectively avoid dam safety hazards caused by settlement problems, and ensure 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 the monitoring work is realized, improving the efficiency and quality of the monitoring work. Attached Figure Description

[0019] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the method flow of the present invention; Figure 2 This is a schematic diagram of data transmission in the method of the present invention; Figure 3 This is a left-side view of the all-terrain walking robot in the monitoring device of this invention; Figure 4 This is a right-side view of the all-terrain walking robot in the monitoring device of this invention; In the image: 1. All-terrain walking robot; 2. Power and control system; 3. GNSS receiver; 4. All-around radar system; 5. Machine vision system; 6. Audible and visual warning lights. Detailed Implementation

[0020] Example 1 like Figure 1 and 2 As shown, a method for monitoring the actual settlement during the construction period of an earth-rock dam includes the following steps: S1. Establish a reference station based on BeiDou satellites for continuous operation in the dam site area of ​​the earth-rock dam, and use the GNSS receiver installed on the all-terrain walking robot as a monitoring station to establish a monitoring network for the earth-rock dam filling surface; S2. Using an all-terrain walking robot equipped with a GNSS receiver, positioning and static measurement are performed on the earth-rock dam filling surface monitoring network to obtain measurement data of the monitoring points where the monitoring station is located. S3. The measurement data is transmitted to the server via the wireless communication module. The server performs differential calculations based on the differential correction data obtained from the base station to obtain the displacement change data of the monitoring point. S4. After each filling layer of the earth-rock dam filling site is compacted and before the next filling layer is filled, measurements are taken to calculate the compacted layer thickness and cumulative settlement of the filling layer, and to obtain the actual settlement data during the construction period of the earth-rock dam. S5. The displacement change data and actual settlement data are fed back to the all-terrain walking robot through the server to adjust the measurement plan of the all-terrain walking robot.

[0021] This scheme establishes one or two high-precision, continuously operating reference stations based on the BeiDou satellite system within a 5km radius of the earth-rock dam site. GNSS receivers mounted on all-terrain walking robots serve as monitoring stations. Preferably, both the reference station GNSS receivers and the all-terrain walking robot's GNSS receivers are high-precision GNSS receivers supporting the BeiDou satellite system, possessing multi-band signal reception capabilities and the ability to simultaneously track multiple satellite signals, significantly improving positioning reliability and accuracy. The all-terrain walking robot's GNSS receiver also integrates an RTK real-time dynamic positioning measurement mode. Before construction at the earth-rock dam site, based on the dam's design drawings, construction techniques, and geological conditions, professional surveying and planning software is used to meticulously plan the monitoring points along the earth-rock dam filling surface. The monitoring points are evenly and rationally distributed, comprehensively reflecting the settlement at different locations within the earth-rock dam body. Monitoring points are arranged at certain intervals in different elevations and areas of the earth-rock dam body, such as the dam crest, slope, and foundation, to establish a monitoring network for the earth-rock dam fill surface, forming a GNSS precision measurement network for deformation monitoring in the earth-rock dam fill area. After determining the coordinate information of the monitoring points, it is input into the microcomputer processor of the all-terrain walking robot to set the robot's measurement plan. The measurement parameters for each monitoring point are set in the power and control system of the all-terrain walking robot, including the number of measurements and the measurement time interval. Preferably, the number of measurements is set to 2 or 3 to ensure the accuracy of the measurement data. The measurement time interval is reasonably set according to the construction progress and settlement changes. When the settlement changes are large in the early stage of construction, the measurement time interval is appropriately shortened, and when the settlement tends to stabilize in the later stage of construction, the measurement time interval can be appropriately extended.

[0022] After receiving the mission instructions from the measurement plan, the all-terrain walking robot, equipped with a high-precision GNSS receiver, moves across the earth-rock dam filling surface, executing RTK real-time dynamic positioning measurement mode. RTK real-time dynamic positioning mode is a high-precision positioning technology based on 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 centimeter-level positioning accuracy during movement. It achieves autonomous planar positioning according to pre-set monitoring points. When the monitoring station reaches a monitoring point, it performs static measurement to receive satellite signals and acquire measurement data for the monitoring point. 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 monitoring station completes the measurement, it transmits the measurement data to the server in real time via a wireless communication module. The server performs real-time differential calculation based on the differential correction data sent by the base station to obtain high-precision three-dimensional positioning information of the monitoring station and calculates the millimeter-level displacement change data of the monitoring point. After each filling layer of the earth-rock dam is compacted and before the next filling layer is constructed, monitoring and statistical calculations are performed. The compacted layer thickness and settlement during the intervals between filling layers are calculated to obtain the cumulative settlement of the underlying soil layer. The cumulative settlement of all soil layers during the construction period is then summed to obtain the actual settlement data for the earth-rock dam construction period. A cloud computing system on a server feeds displacement change data and actual settlement data back to an all-terrain walking robot in real time. Based on data changes, the server automatically adjusts the robot's measurement plan to ensure the continuity and accuracy of monitoring. This method, through advanced monitoring technology, achieves high-precision, automated monitoring of settlement during the earth-rock dam construction period, acquiring real-time settlement data. This provides a scientific basis for deformation coordination control and quality control during construction, while ensuring the safety of surveyors and improving the overall efficiency and reliability of monitoring work.

[0023] Example 2 Further explanation in conjunction with Example 1, such as Figure 1 and 2 As shown, in the preferred embodiment, step S2 includes: S201. Based on the monitoring points of the earth-rock dam filling surface monitoring network, a grid route is planned. The all-terrain walking robot walks along the grid route according to the measurement plan and executes the real-time dynamic positioning mode. S202. When the all-terrain walking robot reaches the monitoring point, it calibrates its position through the obstacle avoidance system to determine that the absolute value of the positioning accuracy is lower than the preset threshold. S203. The all-terrain walking robot is brought to a standstill, and the GNSS receiver of the all-terrain walking robot is used to execute the static measurement mode to receive satellite signal data and obtain the measurement data of the monitoring point where the monitoring station is located.

[0024] According to this scheme, the all-terrain walking robot, following the measurement plan and a grid route, starts from a designated starting position and walks on the earth-rock dam fill surface, executing RTK real-time dynamic positioning mode. During the movement, the all-terrain walking robot's obstacle avoidance system is in real-time operation. When the all-terrain walking robot detects an obstacle ahead, such as construction equipment or stacked materials, the obstacle avoidance system, including an omnidirectional radar system and a machine vision system, transmits the obstacle's position, shape, and other information to the all-terrain walking robot's power and control system. Based on this information, combined with the all-terrain walking robot's current position and motion state, the power and control system automatically plans a reasonable obstacle avoidance route using a pre-programmed obstacle avoidance algorithm. The all-terrain walking robot adjusts its walking direction and speed according to the planned obstacle avoidance route, bypasses the obstacle, and continues to move towards the monitoring point along the grid route.

[0025] When the all-terrain robot reaches the monitoring point (i.e., when the monitoring station reaches the monitoring point), it uses an obstacle avoidance system to precisely calibrate its position, ensuring that the absolute value of the positioning accuracy is below a preset threshold, preferably 3cm. At this point, the all-terrain robot comes to a standstill, and its onboard GNSS receiver begins static measurement mode, continuously collecting multiple sets of satellite signal data. The pseudorange and carrier phase observations are extracted from the satellite signal data, and combined with error correction and geometric calculations, the measurement data for the monitoring point is output. This measurement data includes three-dimensional coordinate data, a timestamp, and satellite signal parameters. The minimum static measurement time is no less than 15 minutes, preferably 15-30 minutes, to obtain stable and accurate measurement data. To ensure the accuracy of the measurement data, the static measurement is repeated 2-3 times. After each static measurement, the measurement data is stored in the all-terrain robot's local storage device. This method uses an all-terrain walking robot in RTK real-time dynamic positioning mode for navigation, positioning, and rapid measurement. After the all-terrain walking robot arrives at the monitoring point and stops, it continuously observes and measures in static measurement mode to obtain measurement data, which serves as a benchmark for settlement monitoring during the construction period of the earth-rock dam.

[0026] Example 3 Further explanation in conjunction with Examples 1 and 2, such as Figure 1 and 2 As shown, in the preferred embodiment, step S3 includes, S301. Detect the signal strength of the communication network through the wireless communication module to determine 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 measurement data obtained from the monitoring station and differential correction data obtained from the base station, and obtains the three-dimensional positioning information and displacement change data of the monitoring point through differential calculation.

[0027] According to this scheme, after completing static measurements, the GNSS receiver mounted on the all-terrain robot transmits the acquired measurement data to the wireless communication module. The wireless communication module first detects the 4G or 5G network signal strength. If the 4G or 5G signal strength meets the transmission requirements, it uses the first communication mode (4G or 5G) for data transmission. If the 4G or 5G signal strength does not meet the requirements, it detects the Wi-Fi network signal strength. If the Wi-Fi signal strength meets the transmission requirements, it switches to the second communication mode (Wi-Fi) for data transmission. If neither the first nor the second communication mode meets the requirements, the measurement data is stored and transmitted when the network recovers. During data transmission, the wireless communication module uses encryption technology to encrypt the measurement data. The encrypted measurement data is then transmitted to the server via either the first or second communication mode, preventing data theft or tampering during transmission.

[0028] The server employs 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, it facilitates subsequent data retrieval, analysis, and visualization. Upon receiving measurement data, the server verifies its integrity and accuracy. If the verification passes, the measurement data is stored in the server's database. For the verified measurement data, differential calculations are performed using the measurement data obtained from the monitoring station and the differential correction data obtained from the base station to correct the measurement data and extract precise three-dimensional positioning information. This three-dimensional positioning information includes the horizontal coordinates and elevation data of the monitoring point, thereby obtaining millimeter-level displacement changes at the monitoring point.

[0029] In the preferred embodiment, in step S303, satellite signal data is received by the GNSS receiver of the reference station, and the observed value of the satellite signal data is compared with the theoretical value based on the known coordinates of the reference station to calculate the signal propagation error and generate differential correction data. The differential correction data is transmitted to the server, and differential calculation is performed by combining 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-rock dam site, detailed geological surveys were conducted on several pre-selected locations of benchmark stations using professional geological exploration equipment and techniques. Priority was given to areas with stable geological conditions, such as well-exposed bedrock and firm, uniform soil layers, to ensure the stability of the benchmark stations and prevent displacement of benchmark points due to geological factors from affecting measurement accuracy. Simultaneously, the locations of the benchmark stations were ensured to have unobstructed views, free from tall buildings, mountains, or other obstructions, to guarantee good satellite signal reception. After selecting the fixed locations of the benchmark stations, construction began. The GNSS receivers of the benchmark stations needed to be installed on stable bedrock or sturdy structures to ensure the accuracy and stability of their positions. Dedicated observation piers were poured at the selected locations, using high-strength concrete and reinforced with sufficient steel bars to enhance structural strength. The height of the observation piers was determined based on the site topography and surrounding environment, ensuring that the GNSS receiver antennas of the benchmark stations were a certain distance above surrounding obstacles to ensure uninterrupted satellite signal reception. After the observation piers were completed and reached their designed strength, the GNSS receivers of the benchmark stations were installed on them. During GNSS receiver installation, strictly follow the equipment installation instructions to ensure accurate installation location and that the GNSS receiver antenna is securely installed and correctly oriented. After installation, conduct comprehensive commissioning of 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 the satellite signal data received by the base station in real time, testing the calculation and transmission functions of differential correction data. Ensure the base station can stably receive satellite signal data and accurately calculate and transmit differential correction data, providing reliable reference data for subsequent monitoring work.

[0031] The GNSS receiver at the base station is fixed to the base station. Precise coordinates are obtained for the selected fixed location of the base station through long-term static observation or by connecting with the national geodetic control network. These precise coordinates are the theoretical values ​​of the known coordinates of the base station. The GNSS receiver at the base station continuously receives satellite signal data, acquiring observed values ​​including pseudorange, carrier phase, and Doppler shift. By comparing the observed 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 orbital error, satellite clock error, and ionospheric or tropospheric delay, generating differential correction data including pseudorange correction, carrier phase correction, and error spatial gradient information. The differential correction data is transmitted to a server for correcting the measurement data at the monitoring station.

[0032] The GNSS receiver of the all-terrain walking robot acts as a monitoring station. The server receives measurement data from the monitoring station and differential correction data from the base station, ensuring the timestamps of the monitoring and base stations are consistent. Using the differential correction data from the base station, inter-satellite and inter-station differential calculations are performed on the measurement data of the monitoring station to eliminate satellite clock errors and orbital errors in common signal propagation errors. The two differential calculations are combined to generate a double-difference carrier phase observation equation, which includes the double-difference integer ambiguity to be solved. Dynamic differential calculation based on Kalman filtering is employed, setting state variables including receiver coordinates, velocity, acceleration, receiver clock error, double-difference integer ambiguity, and ionospheric and tropospheric delay residuals. The double-difference carrier phase observation equation is associated with the state variables, and the LAMBDA least squares ambiguity decorrelation adjustment algorithm is used for joint solution, constraining the ambiguity to integer characteristics, thereby optimizing the carrier phase, solving for the double-difference carrier phase integer ambiguity, and substituting it 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 timestamps, that is, calculate the displacement between the current three-dimensional positioning information and the historical three-dimensional positioning information of the monitoring point; or calculate the displacement relative to the initial position, that is, set the initial positioning information of the monitoring point and calculate the displacement between the current three-dimensional positioning information and the initial three-dimensional positioning information, wherein the displacement is the millimeter-level displacement change data of the current monitoring point.

[0033] Example 4 Further explanation is provided in conjunction with Examples 1-3, such as Figure 1 and 2 As shown, in the preferred embodiment, step S4 includes: S401. After each fill layer is compacted, use an all-terrain walking robot to measure the current fill layer. S402. Obtain the elevation data of the compacted filling layer after rolling, and calculate the thickness of the compacted layer of the current filling layer by combining the three-dimensional positioning information of the monitoring points. S403. Before the next filling layer is filled, the current filling layer is re-measured using an all-terrain walking robot to obtain the settlement during the intermittent period. S404. Calculate the cumulative settlement of the overburden layer beneath the current fill layer based on the current compaction layer thickness and the settlement during the intermittent period. S405. Add up the cumulative settlement of all the overlying soil layers under the fill layers during the construction period to obtain the actual settlement during the construction period of the earth-rock dam.

[0034] According to this scheme, after each filling layer of the earth-rock dam filling surface is compacted, an all-terrain robot measures the current filling layer according to a preset measurement plan. Using the GNSS receiver measurement equipment onboard the all-terrain robot, point cloud data of the compacted filling layer is acquired to extract elevation data. Combined with the 3D positioning information of the monitoring point where the monitoring station is located, i.e., the 3D positioning information of the all-terrain robot, the coordinate system before and after compaction of the filling layer is ensured to be consistent. The elevation data of the current filling layer after compaction is spatially overlaid with the elevation data before compaction to calculate the elevation difference, which is the thickness of the compacted layer of the current filling layer. Since the earth-rock dam filling surface has uneven coarse aggregate, single-point elevation measurements cannot represent the overall thickness. Therefore, point cloud data is used for spatial overlay analysis instead of simple elevation point calculations to ensure spatial continuity. Before the next filling layer begins, the all-terrain robot measures the area again. The difference between the remeasured elevation data and the elevation data after compaction is the settlement during the intermittent period.

[0035] Due to the cumulative effect of load on deep soil, and considering the compaction layer thickness and intermittent settlement, the cumulative settlement of the overburden layer beneath the fill layer is calculated; that is, the total settlement of the existing overburden layer below the current fill layer under historical fill loads. The self-compression of the fill layer, calculated based on the compaction layer thickness, can be expressed as: ,in, Let be the thickness of the compacted layer of the i-th fill layer. Let be the compression index of the i-th fill layer soil. Let be the initial effective stress of the i-th fill layer. The additional stress applied to the i-th fill layer. The cumulative settlement of the underlying soil layer is calculated and can be expressed as: ,in, Let be the settlement during the intermittent period of the i-th fill layer. Let be the self-compression of the i-th fill layer. The actual settlement during the construction period of the earth-rock dam is obtained by summing the cumulative settlement of all overlying soil layers beneath the fill layers.

[0036] In the preferred embodiment, step S4 further includes installing a GNSS receiver on the construction equipment to acquire the loose paving thickness and compacted thickness during the construction process and transmit them to the server. Combined with displacement change data and actual settlement data, the settlement changes during the construction period are simulated to adjust the construction parameters.

[0037] This scheme also incorporates satellite signal data transmitted by GNSS receivers installed on construction equipment such as rollers and pavers within the intelligent compaction system to acquire real-time loose-lay thickness and compacted thickness during construction. The loose-lay thickness is calculated by the spatial difference between the paver's scraper elevation trajectory and the pre-construction elevation data. The compacted thickness is obtained by establishing a correspondence between the roller track and the loose-lay layer using a time-space mapping algorithm. Based on the loose-lay and compacted thicknesses during construction, combined with displacement change data and actual settlement data, a digital model of the fill layer settlement during construction is constructed to simulate the settlement change process. This model is used to optimize construction parameters such as compaction parameters and fill layer thickness design to improve construction efficiency.

[0038] Example 5 Further explanation is provided in conjunction with Examples 1-4, such as 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 were identified. For the monitoring areas with abnormal settlement changes, the grid route and measurement plan of the all-terrain walking robot were adjusted to collect updated displacement change data and actual settlement data.

[0039] According to this scheme, the server's cloud computing system provides real-time feedback of the obtained settlement data 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 change in a certain area is abnormal, the server increases the measurement frequency of the monitoring points in that area; and optimizes the grid route of the all-terrain walking robot according to the actual conditions of the construction site to improve measurement efficiency. Preferably, abnormal settlement changes include a settlement rate of a single point's actual settlement data exceeding a preset value, a settlement gradient difference between adjacent monitoring points' actual settlement data exceeding the standard deviation, or actual settlement data exceeding the design value without a decrease in settlement rate.

[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, and calculating the settlement completion rate of the earth-rock dam; if the settlement completion rate is lower than the preset value, adjusting the deformation control measures during construction, the measures including adjusting one or more of the following: the number of compaction cycles, the compaction speed, the gradation of the filling material, or the filling sequence.

[0041] This scheme involves the server comparing actual settlement data with theoretical settlement data calculated using the layered summation method in the "Design Code for Rolled Earth-Rock Dams" to obtain the settlement completion rate of the earth-rock dam in real time. Construction management personnel can view the data and analysis results through specialized monitoring software or platforms. If the settlement completion rate exceeds the preset range, construction personnel adjust deformation control measures during construction based on the data, such as adjusting the number of compaction cycles and the compaction speed of the roller, and optimizing the gradation and filling sequence of the filling materials, to achieve coordinated deformation of the earth-rock dam and ensure the construction quality and safety of the dam.

[0042] Example 6 Further explanation is provided in conjunction with Examples 1-5, such as Figures 1-4 As shown, in the preferred embodiment, the monitoring equipment used for the actual settlement monitoring method during the construction period of the earth-rock dam includes an all-terrain walking robot with a tracked, quadrupedal, 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 DC brushless 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, which are used for data transmission and data encryption. The all-terrain walking robot is equipped with a GNSS receiver, an obstacle avoidance system, and audible and visual warning lights. 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 through the wireless communication module for differential calculation with the differential correction data acquired by the base station. The obstacle avoidance system includes an all-around radar system and a machine vision system. The lidar sensor of the all-around radar system and the camera sensor of the machine vision system are respectively installed on the all-terrain walking robot. The lidar sensor emits a laser beam and receives the reflected beam. Combined with the real-time images captured by the camera sensor, it is used to identify obstacles in the environment and construction scene information. The audible and visual warning lights are installed on the top or front 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 audible and visual warning system to emit preset light signals and alarm sounds, generating a warning signal.

[0043] This solution places the all-terrain robot in a flat, open area, facilitating installation and operation. The all-terrain robot utilizes a tracked, quadrupedal, or wheeled chassis. This embodiment employs a wheeled chassis, featuring a high-strength, lightweight alloy frame and all-terrain off-road tires with deep anti-slip treads to increase friction with the ground, ensuring stable movement on muddy and rugged terrain at earth-rock dam construction sites, preventing slippage or sinking. Optimized wheelbase and suspension travel, along with an independent shock absorption system, automatically adapt to terrain undulations, reducing vibration during operation. A special wheel hub structure reduces the risk of sinking in soft ground, providing a stable support platform for the mounted equipment.

[0044] The power and control system of the all-terrain walking robot uses a high-performance lithium battery pack as its power source. This battery pack boasts high energy density and excellent charging and discharging efficiency, meeting the power requirements for extended continuous operation. The drive motor is a high-torque, low-speed brushless DC motor, coupled with an advanced electronic control system, enabling precise control of the robot's walking speed and turning angle. The electronic control system integrates advanced motion control algorithms, automatically adjusting the motor output power based on the preset path and real-time environmental information, ensuring the all-terrain walking robot accurately follows the planned route and possesses excellent maneuverability and flexibility.

[0045] The wireless communication module should be installed in a location that provides optimal signal reception and transmission for the all-terrain robot, ideally in a relatively open area on top of or to the side of the robot to avoid signal obstruction. Connect the power and data cables of the wireless communication module to ensure proper communication with the robot's power and control system and GNSS receiver. After installation, debug the wireless communication module by setting 4G or 5G and Wi-Fi communication parameters, and test the stability and speed of data transmission between it and the server.

[0046] A high-precision GNSS receiver is securely mounted on a dedicated mounting bracket for the all-terrain robot, ensuring a stable installation that does not interfere with the robot's normal operation. The GNSS receiver is connected to the power and control system, guaranteeing a stable power supply. Simultaneously, the GNSS receiver's data cable is connected to the wireless communication module to transmit received satellite signal data. The GNSS receiver integrates a high-precision clock module with nanosecond-level time synchronization accuracy, ensuring accurate time references during signal processing and thus improving positioning accuracy.

[0047] The obstacle avoidance system comprises an omnidirectional radar system and a machine vision system. The omnidirectional radar system's radar sensors are mounted on the top of the all-terrain robot, ensuring 360° omnidirectional perception of the surrounding environment. The machine vision system's camera sensors are installed at different locations on the all-terrain robot according to different functional requirements; for example, cameras for forward vision monitoring are installed at a higher position on the front of the robot, while cameras for lateral environmental monitoring are installed at appropriate positions on the sides. During installation, the angles of the camera sensors are adjusted to ensure the field of view coverage meets 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 the system can accurately perceive surrounding environmental information. The obstacle avoidance system emits laser beams and receives reflected beams, accurately detecting the position and distance of obstacles with centimeter-level ranging accuracy, while simultaneously incorporating obstacle avoidance with the machine vision system.

[0048] The audible and visual warning lights consist of high-brightness LEDs and a high-decibel siren. These lights should be installed in a conspicuous location on the all-terrain robot, such as on top or at the front. Connect the power and control cables to the warning lights to ensure they function properly under the control of the power and control system. When the all-terrain robot's obstacle avoidance system detects an obstacle or other abnormality, the power and control system will immediately trigger the audible and visual warning lights. The LEDs emit a flashing, bright light, clearly visible even in dimly lit construction environments, while the siren emits a loud sound to attract the attention of nearby workers, alerting them to avoid the obstacle and ensuring personnel safety at the construction site. The warning modes of the audible and visual warning lights can be set according to different situations, such as continuous flashing and a high-frequency alarm for emergencies, and intermittent flashing and a low-frequency alarm for general warnings, to meet the needs of different scenarios.

[0049] In the preferred embodiment, the monitoring equipment also includes a reference station, which comprises a GNSS receiver, a GNSS receiver antenna, a data processing server, and communication equipment. The GNSS receiver of the reference station is placed on an observation pier at a known coordinate location and receives satellite signal data through the GNSS receiver antenna. The data processing server processes the received satellite signal data and calculates differential correction data. The communication equipment uses network communication or a dedicated communication link to transmit the differential correction data to the server for differential calculation with the measurement data from the monitoring station.

[0050] This scheme establishes one or two high-precision, continuously operating BeiDou-based reference stations within a 5km radius of the earth-rock dam site. The GNSS receivers at these reference stations are mounted on stable bedrock or robust structures. For example, after the observation piers are poured and reach their design strength, high-precision GNSS receivers are installed to ensure the accuracy and stability of their positions. The GNSS receivers integrate 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 GNSS receiver antennas at the reference stations are positioned a certain distance above surrounding obstacles. The antennas employ a high-gain, low-elevation design, effectively receiving signals from low-elevation satellites and reducing signal loss due to terrain or building obstructions. This ensures stable satellite signal reception even in the complex construction environment of earth-rock dams, guaranteeing the continuity and accuracy of measurements.

[0051] Satellite signal data is received via a professional GNSS receiver antenna. A data processing server processes and analyzes the received satellite signal data in real time, calculating differential correction data. This differential correction data is then transmitted to the server via communication equipment, such as a 4G or 5G network or a dedicated communication link. The server uses the measurement data from the monitoring station and the differential correction data from the base station to perform differential calculations, thereby eliminating the influence of common satellite signal errors such as satellite orbit errors and delays, achieving high-precision positioning measurements.

[0052] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A method for monitoring real settlement of earth-rock dam during construction period, characterized in that: The method includes the following steps: S1. Establish a benchmark station in the dam site area of ​​the earth-rock dam, and use the GNSS receiver installed on the all-terrain walking robot as a monitoring station to establish a monitoring network for the earth-rock dam filling surface. S2. Using an all-terrain walking robot equipped with a GNSS receiver, positioning and static measurement are performed on the earth-rock dam filling surface monitoring network to obtain measurement data of the monitoring points where the monitoring station is located. S3. The measurement data is transmitted to the server via the wireless communication module. The server performs differential calculations based on the differential correction data obtained from the base station to obtain the three-dimensional positioning information and displacement change data of the monitoring point. S4. After each filling layer of the earth-rock dam filling site is compacted and before the next filling layer is filled, measurements are taken to calculate the compacted layer thickness and cumulative settlement of the filling layer, and to obtain the actual settlement data during the construction period of the earth-rock dam. Step S4 includes: S401, after each fill layer is compacted, an all-terrain walking robot is used to measure the current fill layer; S402. Obtain the elevation data of the compacted filling layer after rolling, and calculate the thickness of the compacted layer of the current filling layer by combining the three-dimensional positioning information of the monitoring points. S403. Before the next filling layer is filled, the current filling layer is re-measured using an all-terrain walking robot to obtain the settlement during the intermittent period. S404. Calculate the cumulative settlement of the overburden layer beneath the current fill layer based on the current compaction layer thickness and the settlement during the intermittent period. S405. Add up the cumulative settlement of all the overlying soil layers under the fill layers during the construction period to obtain the actual settlement during the construction period of the earth-rock dam. S5. The displacement change data and actual settlement data are fed back to the all-terrain walking robot through the server to adjust the measurement plan of the all-terrain walking robot. 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, and updated displacement change data and actual settlement data are collected.

2. The method for monitoring real-time settlement of earth-rock dam during construction period according to claim 1, characterized in that: Step S2 includes: S201, planning a grid route based on 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 the real-time dynamic positioning mode; S202. When the all-terrain walking robot reaches the monitoring point, it calibrates its position through the obstacle avoidance system to determine that the absolute value of the positioning accuracy is lower than the preset threshold. S203. The all-terrain walking robot is brought to a standstill, and the GNSS receiver of the all-terrain walking robot is used to execute the static measurement mode to receive satellite signal data and obtain the measurement data of the monitoring point where the monitoring station is located.

3. The method for monitoring real-time settlement of earth-rock dam during construction period according to claim 1, characterized in that: Step S3 includes: S301, detecting the signal strength of the communication network 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 measurement data obtained from the monitoring station and differential correction data obtained from the base station, and obtains the three-dimensional positioning information and displacement change data of the monitoring point through differential calculation.

4. The method for monitoring real-time settlement of earth-rock dam during construction period according to claim 3, characterized in that: In step S303, satellite signal data is received by the GNSS receiver of the reference station, and the observed value of the satellite signal data is compared with the theoretical value based on the known coordinates of the reference station to calculate the signal propagation error and generate differential correction data. The differential correction data is transmitted to the server, and differential calculation is performed by combining 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 during the construction period of an earth-rock dam according to claim 1, characterized in that: Step S4 also includes installing a GNSS receiver on the construction equipment to acquire the loose paving thickness and compacted thickness during the construction process and transmit them to the server. Combined with displacement change data and actual settlement data, the settlement changes during the construction period are simulated to adjust the construction parameters.

6. The method for monitoring the actual settlement during the construction period of an earth-rock dam according to claim 1, characterized in that: The method further includes: S6, comparing the actual settlement data with the theoretical settlement data calculated by the layered summation method, and calculating the settlement completion rate of the earth-rock dam; if the settlement completion rate is lower than the preset value, adjusting the deformation control measures during construction, the measures including adjusting one or more of the following: the number of compaction cycles, the compaction speed, the gradation of the filling material, or the filling sequence.

7. The monitoring equipment for the method of monitoring actual settlement during the construction period of an earth-rock dam according to any one of claims 1 to 6, characterized in that: The monitoring equipment includes all-terrain walking robots using tracked, quadrupedal, 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 DC brushless 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, which are used for data transmission and data encryption. The all-terrain walking robot is equipped with a GNSS receiver, an obstacle avoidance system, and audible and visual warning lights. 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 through the wireless communication module for differential calculation with the differential correction data acquired by the base station. The obstacle avoidance system includes an all-around radar system and a machine vision system. The lidar sensor of the all-around radar system and the camera sensor of the machine vision system are respectively installed on the all-terrain walking robot. The lidar sensor emits a laser beam and receives the reflected beam. Combined with the real-time images captured by the camera sensor, it is used to identify obstacles in the environment and construction scene information. The audible and visual warning lights are installed on the top or front 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 audible and visual warning system to emit preset light signals and alarm sounds, generating a warning signal.

8. The monitoring equipment for the method of monitoring actual settlement during the construction period of an earth-rock dam according to claim 7, characterized in that: The monitoring equipment also includes a base station, which consists of a GNSS receiver, a GNSS receiver antenna, a data processing server, and communication equipment. The GNSS receiver of the base station is set on an observation pier at a known coordinate location, and satellite signal data is received through the GNSS receiver antenna; the received satellite signal data is processed by a data processing server to calculate differential correction data; The communication equipment uses network communication or a dedicated communication link to transmit differential correction data to the server for differential calculation with the measurement data from the monitoring station.

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