Hydraulic micro-control linkage slope multi-mode monitoring equipment precision verification system and method

Abstract

The invention discloses a hydraulic micro-control linkage slope multi-modal monitoring equipment precision verification system, which comprises a simulation slope, a hydraulic device, a temperature sensor, a micro-control terminal, a hydraulic micro-control system and equipment to be verified, and the equipment to be verified comprises a GNSS displacement monitor, radar equipment and an inclinometer. The invention further discloses a verification method of the hydraulic micro-control linkage slope multi-mode monitoring equipment precision verification system. The simulation slope is composed of a plurality of rock block units and is convenient to install and operate. The hydraulic micro-control system can simultaneously operate the hydraulic rods at different positions, can simulate the infinitesimal displacement of the side slope, simplifies the operation process, and reduces the operation difficulty; the verification system has the environment temperature self-adaptive capacity, temperature drift is compensated through a multilayer sensing network algorithm model fused with a physical model, interference is reduced, and the micro-displacement simulation precision credibility is enhanced. According to the invention, the monitoring precision of the GNSS displacement monitor, the radar equipment and the inclinometer can be verified at the same time, and the efficiency is high.

Description

Technical Field

[0001] This invention belongs to the field of slope monitoring technology, specifically a hydraulic micro-control linkage slope multimodal monitoring equipment accuracy verification system and method. Background Technology

[0002] In open-pit coal mines, slope landslides are a major cause of disasters, and slope stability is directly related to the safety of mining operations and the ecological environment. When a slope experiences minor displacement or deformation, insufficient accuracy of monitoring equipment can easily lead to misjudgments of the minor displacement, thus missing the optimal time to implement preventative measures.

[0003] Currently, slope monitoring equipment plays a crucial role in the field of slope monitoring, serving as a key element in ensuring slope stability and preventing geological disasters. However, compared to the widespread application of slope monitoring equipment in actual engineering projects and its significant impact on engineering safety, the work on verifying monitoring accuracy is far from sufficient. More notably, existing slope monitoring equipment verification technologies cannot simultaneously verify multiple monitoring devices and suffer from a lack of environmental interference compensation, making it difficult to conduct comprehensive and in-depth accuracy monitoring of slope monitoring equipment.

[0004] To ensure the accuracy of monitoring data, improve the effectiveness of the monitoring system, achieve information feedback on the effects of advanced exploration, forecasting, and comprehensive prevention and control technologies, verify the reliability of slope monitoring technology and methods for detecting hidden disaster-causing factors on slopes, and promote the optimization and upgrading of basic theories and industrial equipment for major disaster management, it is particularly important to construct a multimodal monitoring equipment accuracy verification system. Summary of the Invention

[0005] To address the limitations of existing slope monitoring equipment verification technologies, such as the inability to simultaneously verify multiple monitoring devices and the lack of environmental interference compensation, the present invention aims to provide a hydraulically micro-controlled multimodal slope monitoring equipment accuracy verification system and method.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A hydraulic micro-control linkage slope multimodal monitoring equipment accuracy verification system includes a simulated slope, multiple hydraulic devices, a temperature sensor, a micro-control terminal, a hydraulic micro-control system, and equipment to be verified, which includes a GNSS displacement monitor, radar equipment, and an inclinometer.

[0008] The simulated slope includes several rock block units and a supporting base plate. The rock block units are placed on the upper surface of the supporting base plate and stacked in parallel from bottom to top. They are cut to form a right-angled trapezoidal structure in cross-section.

[0009] The radar equipment is installed on the upper right side of the simulated slope, and the GNSS displacement monitor and inclinometer are installed on the rock block units at different locations in the simulated slope.

[0010] A hydraulic device is connected to the left end face of each rock block unit to control the horizontal displacement of each rock block unit; multiple hydraulic devices are installed on the lower surface of the support base plate to control the vertical displacement of the simulated slope; the ends of each hydraulic device located below the support base plate are connected to a horizontal fixing plate.

[0011] The hydraulic devices connected to the left end face of each rock block unit are connected in series via connecting lines and then connected to the microcontroller terminal via connecting lines. The hydraulic devices located below the support base plate are connected in series via connecting lines and then connected to the microcontroller terminal via connecting lines. The microcontroller terminal is equipped with a hydraulic microcontroller system. The temperature sensor is connected to the hydraulic microcontroller system via a digital signal interface to collect ambient temperature in real time and feed back the temperature data to the hydraulic microcontroller system. The hydraulic microcontroller system is used to set and receive the displacement values ​​of the hydraulic devices, perform temperature drift compensation, store and display the raw displacement data, and control the operation of the hydraulic devices.

[0012] Furthermore, the number of rock block units is 100, arranged in an array of 10 units per row and 10 units per column above the supporting base plate from bottom to top. Each rock block unit is 2.4m long, 0.12m wide, and 0.12m high.

[0013] Furthermore, the radar equipment is installed at a horizontal distance of 3m-5m from the vertical plane where the bottom of the simulated slope is located, and the installation height is 1.2m from the vertical distance between the plane where the supporting base plate is located.

[0014] Furthermore, a lateral constraint plate is fixed vertically on both the front and rear sides of several rock block units, restricting all rock block units, the supporting base plate, and the horizontal fixing plate between the two lateral constraint plates. This is used to constrain the forward and backward movement of all rock block units. The lateral constraint plate has a double-layer structure, with an outer steel plate and an inner polyurethane damping plate. The steel plate and the polyurethane damping plate are bonded and fixed with epoxy resin adhesive, and bolt holes are pre-set on the edge of the steel plate. The polyurethane damping plate is pressed and fixed by fasteners.

[0015] Furthermore, the end of each hydraulic device connected to the left end face of each rock block unit is connected to a vertical fixing plate, and the bottom end of the vertical fixing plate is fixed to the left end face of the support base plate.

[0016] Furthermore, the hydraulic device includes a hydraulic rod, a driver, an electromagnetic directional valve, two hydraulic pipes, and a magnetic induction displacement sensor. The hydraulic rod is equipped with two hydraulic pipes, and an electromagnetic directional valve is installed on each of the two hydraulic pipes. The electromagnetic directional valve is connected to the driver, which controls the operation of the electromagnetic directional valve, thereby controlling the oil volume in the two hydraulic pipes connected to the electromagnetic directional valve, and thus controlling the extension and retraction displacement of the hydraulic rod. The hydraulic rod is also equipped with a magnetic induction displacement sensor for measuring the displacement value of the hydraulic rod.

[0017] The hydraulic micro-control system includes an information collection module, a temperature compensation module, a display module, a data storage module, and a controller module; the information collection module is also connected to the temperature compensation module, the temperature compensation module is connected to the display module, the controller module, and the data storage module respectively, and the display module is also connected to the data storage module and the controller module respectively.

[0018] The information collection module is connected to the temperature sensor and all magnetic induction displacement sensors. The information collection module is used to receive the temperature monitoring data from the temperature sensor and the real-time displacement value monitoring data sent by the magnetic induction displacement sensors in each hydraulic device, and to process them.

[0019] The temperature compensation module is used to receive the processed displacement value monitoring data and temperature monitoring data sent by the information collection module, and to use the built-in multilayer sensing network algorithm model of the fusion physical model to perform temperature drift compensation on the real-time displacement value monitoring data sent by each magnetic induction displacement sensor to obtain the compensated displacement value data.

[0020] The display module is used to display the current displacement values ​​of each hydraulic rod, as well as to set and modify data;

[0021] The data storage module is used to store the displacement value data after compensation by the temperature compensation module, as well as records of user-modified data;

[0022] The controller module is used to receive data sent by the temperature compensation module and the display module, and control the actuator to control the solenoid directional valve, thereby driving the hydraulic rod to move through the solenoid directional valve.

[0023] Furthermore, the information collection module of the microcontroller terminal is connected to the magnetic induction displacement sensor on the hydraulic rod, and the controller module of the microcontroller terminal is connected to the driver of the hydraulic device.

[0024] This invention also discloses a verification method for a hydraulically controlled multimodal slope monitoring equipment accuracy verification system. This method is based on the aforementioned hydraulically controlled multimodal slope monitoring equipment accuracy verification system and specifically includes the following steps:

[0025] S1: Fix the GNSS displacement monitoring instrument to be verified on the upper surface of the simulated slope;

[0026] The radar equipment to be verified is installed on the upper right side of the simulated slope. The center axis of the radar equipment is aligned with the center point of the slope using a total station. The horizontal scanning angle is ≥30 degrees and the elevation angle of the radar equipment is adjusted to ±10 degrees.

[0027] A vertical hole was drilled downwards on the upper surface of the simulated slope, and the inclinometer to be verified was installed vertically using a casing embedding process.

[0028] S2: First, the display module on the hydraulic micro-control system returns all hydraulic rod displacements to zero. Then, an initial displacement value is set for each hydraulic rod. Each hydraulic rod begins to move according to the set initial displacement value. The magnetic induction displacement sensor monitors the real-time displacement value of each hydraulic rod.

[0029] S3: The information collection module on the hydraulic micro-control system receives real-time displacement data monitored by each magnetic induction displacement sensor and temperature data acquired by the temperature sensor, and processes it; then, the information collection module sends the data to the temperature compensation module.

[0030] S4: The temperature compensation module uses a multi-layer sensing network algorithm model that integrates physical models to perform temperature drift compensation on each real-time displacement value data, and sends the compensated real-time displacement value data to the display module, controller module and data storage module.

[0031] S5: The display module receives the data processed by the temperature compensation module and displays it on the screen. At the same time, the user inputs the displacement change of each hydraulic rod on the display module.

[0032] The display module adds the compensated real-time displacement value data to the displacement data of the corresponding hydraulic rod in the displacement change data input by the user to form the expected displacement value data of each hydraulic rod.

[0033] Finally, the display module sends the expected displacement values ​​of each hydraulic rod to the controller module and the data storage module;

[0034] S6: After receiving the real-time displacement value data after temperature compensation sent by the temperature compensation module and the expected displacement value data sent by the display module, the data storage module stores the data.

[0035] S7: After receiving the data sent by the temperature compensation module and the display module, the controller module compares the expected displacement value data at the corresponding position with the real-time displacement value data after temperature compensation, and controls the actuator to act, thereby controlling the electromagnetic reversing valve to push the rock block unit at the corresponding position to move and generate displacement. Each magnetic induction displacement sensor sends the monitored displacement data after movement to the information collection module.

[0036] S8: Repeat S3-S7, keeping the expected displacement value data unchanged until the displacement data after movement monitored by each magnetic induction displacement sensor in the controller module is equal to the corresponding expected displacement value data, and obtain a set of experimental data under the current displacement change condition. The initial displacement change of each hydraulic rod is set to be less than the monitoring accuracy of its corresponding GNSS displacement monitor, inclinometer and radar equipment.

[0037] S9: Repeat S3-S8, keeping the displacement change constant, and conduct multiple repeated experiments to obtain multiple sets of repeated experimental data under the current displacement change condition.

[0038] S10: Read the expected displacement value data of S5 stored in the data storage module, i.e., the monitoring data of the hydraulic micro-control system, as the theoretical value. Use the displacement value data recorded by the GNSS displacement monitor, radar equipment, and inclinometer to be verified as the experimental value. Take the data at the same time as a set of data, analyze it, and evaluate whether the monitoring accuracy of the GNSS displacement monitor, inclinometer, and radar equipment to be verified meets the evaluation criteria under the current displacement change condition. If it meets the criteria, the current displacement change value is the monitoring accuracy of the GNSS displacement monitor, radar equipment, and inclinometer. If it does not meet the criteria, increase the input displacement change value and repeat S3-10 until the evaluation criteria are met.

[0039] Furthermore, S2 specifically includes the following steps:

[0040] S201: Each rock block unit in contact with the GNSS displacement monitor is a rock block unit corresponding to the GNSS displacement monitor. The initial displacement value of the hydraulic rods connected to these rock block units is set to the same displacement value to ensure the consistency of the GNSS displacement monitor's reference plane displacement.

[0041] S202: Each rock block unit that is in vertical contact with the inclinometer is taken as the rock block unit corresponding to the inclinometer. The initial displacement value of the hydraulic rod connected to these rock block units is set as a gradient value that increases or decreases sequentially to realize the simulation of the layered displacement difference of the inclinometer.

[0042] S203: Treat all rock block units that are not in contact with the GNSS displacement monitor and inclinometer as the corresponding rock block units of the radar equipment, set the initial displacement values ​​of the hydraulic rods connected to these rock block units to a stepped displacement parameter setting with equal differences, and construct a global continuous deformation gradient field for the radar equipment.

[0043] S204: Set the initial displacement value of all hydraulic rods under the support base plate to the same displacement value;

[0044] S205: After the initial displacement value is set, each hydraulic rod begins to move according to the set initial displacement value, and the magnetic induction displacement sensor monitors the real-time displacement value of each hydraulic rod.

[0045] Furthermore, the specific process of temperature drift compensation in S4 is as follows:

[0046] S401: Determine if there is a saved multilayer perceptron algorithm model that integrates physical models. If there is, jump directly to S407; otherwise, continue executing sequentially.

[0047] S402: First, calculate the temperature compensation value for each real-time displacement data based on the physical model. The specific calculation formula is as follows:

[0048] L 实际 =L 测量 -α·L0·(T 当前 -T 参考 )

[0049] Among them, L 实际 These are temperature compensation values ​​based on a physical model, in mm; L 测量 This is real-time displacement data, in mm; α is the coefficient of linear expansion of the hydraulic rod material at the current temperature, in °C. -1 L0 is the original length of the hydraulic rod at the reference temperature, in mm; T 当前 The current ambient temperature is collected by a temperature sensor, in °C; T. 参考 Reference temperature, unit: °C;

[0050] Then, the temperature compensation module uses the acquired real-time displacement data, temperature data, and temperature compensation value based on the physical model as input features, and at the same time uses a laser interferometer or grating ruler measuring device to measure the real displacement value of each hydraulic rod in real time, and uses it as output features.

[0051] Next, the real-time displacement data, temperature, temperature compensation value based on the physical model, and actual displacement value of each hydraulic rod are divided into training set, validation set, and experimental set in a ratio of 8:1:1, and then substituted into the multilayer perceptron algorithm model.

[0052] S403: The hyperparameters of the multilayer perceptron, such as the number of neurons, learning rate, and loss rate, are adjusted through grid search to find the optimal hyperparameters;

[0053] S404: Substitute the optimal hyperparameters determined in S403 into the multilayer perceptron algorithm model, set the initial number of training rounds to 200, and use the tf.keras.callbacks.EarlyStopping method in the Python library to dynamically adjust the number of training rounds;

[0054] S405: Uses R 2 The root mean square error (RMSE) is used as an evaluation metric to evaluate the multilayer perceptron algorithm model.

[0055]

[0056] in, y i These are the actual displacement values ​​of each hydraulic rod in S402. The temperature compensation value output by the multilayer sensing network algorithm model is i = 1, 2, 3, ..., n, where n is the total number of actual displacement values. The mean value of the temperature compensation output by the multilayer sensing network algorithm model;

[0057] R 2 The closer a value is to 1, the stronger the model's ability to interpret the data.

[0058]

[0059] Where n is the total number of true displacement values ​​in the dataset, and the smaller the RMSE, the better the model performance;

[0060] S406: Based on evaluation index R 2 If the hyperparameters are greater than 0.85 and RMSE is less than 0.1, determine if the termination condition is met. If it is met, terminate the process, save the model, and proceed to S407. If not, return to S403 to adjust the hyperparameter mesh and continue searching for the optimal hyperparameters.

[0061] S407: The temperature compensation module uses the saved model to obtain the temperature compensation value output by the multilayer sensing network algorithm model. This refers to the real-time displacement value data after temperature compensation, which is then sent to the display module, controller module, and data storage module.

[0062] Furthermore, in S10, the monitoring accuracy of the GNSS displacement monitor, inclinometer, and radar equipment to be verified is evaluated under the current displacement change conditions, and the specific method is as follows:

[0063] (1) Evaluation of the monitoring accuracy of the GNSS displacement monitoring instrument and inclinometer to be verified, the specific method is as follows:

[0064] Let n1 be the number of experiments conducted by the GNSS displacement monitor or inclinometer in S9, and let d be the current displacement change corresponding to the GNSS displacement monitor or inclinometer in repeated experiments. k Current displacement change d k Under the given conditions, the displacement data monitored by the GNSS displacement monitor or inclinometer to be verified are: The corresponding monitoring data of the hydraulic micro-control system, namely the expected displacement value data of S5, is y. k For k = 1, 2, ..., n1, the monitoring accuracy of the GNSS displacement monitor and inclinometer is evaluated using the mean relative error (MRE) and root mean square error (RMSE), respectively.

[0065]

[0066] MRE reflects the deviation ratio between the self-monitored displacement value data of the GNSS displacement monitor or inclinometer to be verified and the monitoring data of the hydraulic micro-control system; RMSE quantifies the dispersion between the self-monitored displacement value data of the GNSS displacement monitor or inclinometer to be verified and the monitoring data of the hydraulic micro-control system, effectively characterizing the stability of the equipment in dynamic monitoring.

[0067] Evaluation criteria: When MRE ≥ the first preset threshold or RMSE ≥ the first preset threshold, it proves that the monitoring accuracy of the GNSS displacement monitor or inclinometer to be verified is higher than the current displacement change d. k If the value is large, the condition is not met. Increase the input displacement change and repeat S3-S10.

[0068] When MRE < the first preset threshold and RMSE < the second preset threshold, the condition is met, and the single displacement change d is... k This refers to the actual accuracy of the GNSS displacement monitor or inclinometer to be verified.

[0069] The values ​​of the first preset threshold and the second preset threshold are set according to the experimental requirements;

[0070] (2) Evaluation of the monitoring accuracy of radar equipment, the specific method is as follows:

[0071] Let the number of experiments conducted on the radar equipment in S9 be n², and use the following formula for evaluation:

[0072]

[0073] In the formula, n4 = n2n3; d f =n4-n3;

[0074] Where, d i It is the monitoring data of all hydraulic micro-control systems of all rock block units corresponding to the radar equipment in n2 repeated experiments; It is all d i The mean; s d It is all d i Standard deviation; d jn4 is the current displacement change; n2 is the sample size; n3 is the number of repeated experiments; n4 is the number of rock block units corresponding to the radar equipment in a single experiment under the condition of the current displacement change; d f The degrees of freedom currently being tested;

[0075] Evaluation criteria: Assuming there is no difference between the displacement data monitored by the radar equipment itself and the monitoring data monitored by the hydraulic micro-control system, and setting the significance level β = 0.05, indicating that the maximum acceptable Type I error probability is 0.05, the critical t value t is obtained by looking up the critical value table of t-distribution. β (d f If t≥t β (d f The statement indicates that assumption H0 is not true, meaning there is a significant difference between the radar device's self-monitored displacement data and the hydraulic micro-control system's monitoring data. Therefore, the condition is not met, and the input displacement change is increased. S3-S10 are repeated until t... <t β (d f ), indicating that if assumption H0 holds, there is no significant difference between the radar equipment monitoring results and the hydraulic micro-control system monitoring data, then d j This refers to the actual accuracy of the radar equipment.

[0076] Compared with the prior art, the beneficial effects of the present invention are:

[0077] 1. The verification system of this invention simplifies operation and is highly efficient and accurate. The simulated slope of this invention is composed of multiple rock block units, which facilitates installation and operation. Through the hydraulic micro-control system, hydraulic rods at different positions can be operated simultaneously on the screen. At the same time, the displacement value of the hydraulic rods is precisely controlled by the program, thereby controlling the position of each rock block unit of the simulated slope. It can simulate small displacements of the slope, simplify the operation process, reduce the difficulty of operation, and reduce the possibility of operation errors. This not only improves the safety of operators, but also enhances the effectiveness and accuracy of monitoring data.

[0078] 2. This invention has the ability to adapt to ambient temperature. The invention incorporates a temperature compensation module and uses a multilayer sensing network algorithm model that integrates physical models to compensate for temperature drift, reducing the interference of ambient temperature on experimental results and enhancing the accuracy and reliability of micro-displacement simulation.

[0079] 3. This invention processes and analyzes the monitoring data of the hydraulic micro-control system and the monitoring data of the slope multimodal monitoring equipment to be verified, and can simultaneously verify the monitoring accuracy of GNSS displacement monitoring instruments, radar equipment and inclinometer monitoring equipment, with high verification efficiency. Attached Figure Description

[0080] Figure 1 This is a schematic diagram of the overall structure of the accuracy verification system for the hydraulic micro-control linkage slope multimodal monitoring equipment of the present invention.

[0081] Figure 2 This is a schematic diagram of the connection between the hydraulic micro-control system and the hydraulic device in the accuracy verification system of the hydraulic micro-control linkage slope multimodal monitoring equipment of the present invention.

[0082] Figure 3 This is a schematic diagram of the hydraulic rod of the accuracy verification system of the hydraulic micro-control linkage slope multimodal monitoring equipment of the present invention.

[0083] The components include: 1. Microcontroller terminal; 2. Hydraulic microcontroller system; 21. Display module; 22. Information collection module; 23. Data storage module; 24. Controller module; 25. Temperature compensation module; 3. Connecting line; 4. Hydraulic device; 41. Hydraulic rod; 42. Driver; 43. Electromagnetic directional valve; 44. Hydraulic pipe; 45. Magnetic induction displacement sensor; 51. Rock block unit; 52. Support base plate; 53. Lateral constraint plate; 531. Steel plate; 532. Polyurethane damping plate; 6. GNSS displacement monitor; 7. Radar equipment; 8. Inclinometer; 9. Temperature sensor; 10. Vertical fixing plate; 11. Horizontal fixing plate. Detailed Implementation

[0084] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0085] Example 1

[0086] like Figures 1-3 As shown, this embodiment provides a hydraulic micro-control linkage slope multimodal monitoring equipment accuracy verification system, including a simulated slope, multiple hydraulic devices 4, a temperature sensor 9, a micro-control terminal 1, a hydraulic micro-control system 2, and a device to be verified, which includes a GNSS displacement monitor 6, a radar device 7, and an inclinometer 8.

[0087] The simulated slope comprises several rock block units 51 and a supporting base plate 52. The rock block units 51 are placed on the upper surface of the supporting base plate 52 and stacked parallel to each other from bottom to top (during the stacking process, the length direction of each rock block unit 51 is strictly kept consistent with the length direction of the supporting base plate 52, ultimately forming an initial large cuboid structure). After cutting, a right-angled trapezoidal cross-section is formed (during cutting, a three-dimensional cut is made along the inclined plane formed by the central axis of the upper surface of the formed large cuboid (X=1.2m line in the Z=1.2m plane) and the right boundary of the lower base (X=2.4m line in the Z=0 plane), resulting in a slope with a typical engineering cross-section of a right-angled trapezoid, with a slope angle of 63°±1°, a hypotenuse length of 2.68m, a vertical height of 1.2m, and a base area of ​​1.44m².2 );

[0088] The radar device 7 is installed on the upper right side of the simulated slope, and the GNSS displacement monitor 6 and the inclinometer 7 are installed on the rock block unit 51 at different locations in the simulated slope.

[0089] Each rock block unit 51 is connected to a hydraulic device 4 on its left end face to control the horizontal displacement of each rock block unit 51; multiple hydraulic devices 4 (10 in the X direction and 10 in the Y direction, for a total of 100 hydraulic devices) are installed on the lower surface of the support base plate 52 to control the vertical displacement of the simulated slope; the ends of each hydraulic device located below the support base plate 52 are connected to the horizontal fixing plate 11.

[0090] Hydraulic devices 4 connected to the left end face of each rock block unit 51 are connected in series via connecting line 3 (not shown in the figure) and then connected to the microcontroller terminal via connecting line 3. Hydraulic devices 4 located below the support base plate 52 are connected in series via connecting line 3 (not shown in the figure) and then connected to the microcontroller terminal via connecting line 3. The microcontroller terminal is equipped with a hydraulic microcontroller system 2. The temperature sensor 9 is connected to the hydraulic microcontroller system 2 via a digital signal interface to collect ambient temperature in real time and feed back temperature data to the hydraulic microcontroller system 2. The hydraulic microcontroller system 2 is used to set and receive the displacement value of the hydraulic device 4, specifically the displacement value of the hydraulic rod 41, to perform temperature drift compensation, storage and display on the raw displacement value data, and to control the action of the hydraulic device 4. Specifically, it controls the action of the driver 42 in the hydraulic device 4, thereby controlling the movement of the hydraulic rod 41.

[0091] There are 100 rock block units 51, which are arranged in an array of 10 units per row and 10 units per column above the supporting base plate 52 from bottom to top (i.e., along the coordinate system X×Y×Z=1×10×10). Each rock block unit 51 has a cuboid structure, with each rock block unit 51 having a length of 2.4m, a width of 0.12m, and a height of 0.12m.

[0092] The radar device 7 is installed at a horizontal distance of 3m-5m from the vertical plane where the bottom of the simulated slope is located, and the vertical distance between the installation height and the plane where the supporting base plate 52 is located is 1.2m; the rock block unit 51 where the inclinometer 8 and the GNSS displacement monitor are located are different rock block units 51.

[0093] A lateral constraint plate 53 is fixed vertically on both the front and rear sides of several rock block units 51, restricting all rock block units 51 and the supporting base plate 52 between the two lateral constraint plates 53, and used to restrain the forward and backward movement of all rock block units 51; the lateral constraint plate 53 has a double-layer structure, the outer layer is a steel plate 531, made of Q335D grade steel plate with a thickness of 12mm, and the inner layer is a polyurethane damping plate 532 with a thickness of 8mm. The steel plate 531 and the polyurethane damping plate 532 are bonded and fixed with epoxy resin adhesive, and bolt holes are preset on the edge of the steel plate 531. The polyurethane damping plate 532 is pressed and fixed by fasteners (bolts); at the same time, triangular steel support frames (not shown in the figure) are fixed on the outer side of the two lateral constraint plates 53 by bolts or welding to enhance the constraint effect on the rock block units 51 and the overall stability of the simulated slope.

[0094] Each hydraulic device 4 connected to the left end face of each rock block unit 51 is connected to the vertical fixing plate 10 at its end, and the bottom end of the vertical fixing plate 10 is fixed to the left end face of the supporting base plate 52.

[0095] The supporting base plate 52, the horizontal fixing plate 11, and the lateral constraint plates 53 on both sides are in contact but not fixed.

[0096] The bottom of the horizontal fixing plate 11 and the lateral restraint plates 53 on both sides are flush and placed on a horizontal ground. The lateral restraint plates 53 on both sides are of equal height, and the top of the lateral restraint plates 53 should be at least flush with the upper surface of the uppermost rock block unit 51.

[0097] The hydraulic device 4 includes a hydraulic rod 41, a driver 42, a solenoid directional valve 43, two hydraulic pipes 44, and a magnetic displacement sensor 45. Figure 3 As shown, the hydraulic rod 41 is equipped with two hydraulic pipes 44, and an electromagnetic directional valve 43 is installed on the two hydraulic pipes 44. The electromagnetic directional valve 43 is connected to the driver 42. The driver 42 controls the operation of the electromagnetic directional valve 43, thereby controlling the oil volume in the two hydraulic pipes 44 connected to the electromagnetic directional valve 43, thus controlling the extension and retraction displacement of the hydraulic rod 41. A magnetic induction displacement sensor 45 is also installed on the hydraulic rod 41 to measure the displacement value of the hydraulic rod 41.

[0098] In the hydraulic device 4, the hydraulic rod 41 is connected to the vertical fixing plate 10 and the horizontal fixing plate 11.

[0099] like Figure 2As shown, the hydraulic micro-control system 2 includes an information collection module 22, a temperature compensation module 25, a display module 21, a data storage module 23, and a controller module 24; the information collection module 22 is connected to the temperature compensation module 25, the temperature compensation module 25 is connected to the display module 21, the controller module 24, and the data storage module 23 respectively, and the display module 21 is also connected to the data storage module 23 and the controller module 24 respectively;

[0100] The information collection module 22 is connected to the temperature sensor 9 and all the magnetic induction displacement sensors 45. It is used to receive the temperature monitoring data from the temperature sensor 9 and the real-time displacement value monitoring data sent by the magnetic induction displacement sensors 45 in each hydraulic device 4, and to process them.

[0101] The temperature compensation module 25 is used to receive the processed displacement value monitoring data and temperature monitoring data sent by the information collection module 22, and use the built-in multilayer sensing network algorithm model of the fusion physical model to perform temperature drift compensation on the real-time displacement value monitoring data sent by each magnetic induction displacement sensor 45 to obtain the compensated displacement value data.

[0102] The display module 21 is used to display the current displacement values ​​of each hydraulic rod 41, as well as to set and modify data;

[0103] The data storage module 23 is used to store displacement value data after compensation by the temperature compensation module 25 and records of user-modified data.

[0104] The controller module 24 is used to receive data sent by the temperature compensation module 25 and the display module 21, and control the actuator 42 to operate, thereby controlling the solenoid directional valve 43, and driving the hydraulic rod 41 to move through the solenoid directional valve 43.

[0105] The information collection module 22 of the microcontroller terminal is connected to the magnetic induction displacement sensor 45 on the hydraulic rod 41, and the controller module 24 of the microcontroller terminal is connected to the driver 42 of the hydraulic device 4.

[0106] Example 2

[0107] A verification method for a hydraulically controlled, multi-modal slope monitoring equipment accuracy verification system, based on the hydraulically controlled, multi-modal slope monitoring equipment accuracy verification system described in Example 1, specifically includes:

[0108] S1: Fix the GNSS displacement monitor 6 to be verified on the upper surface of the simulated slope; during installation, simply place the bottom of the GNSS displacement monitor 6 on the upper surface of the rock block unit 51 for fixation.

[0109] The radar device 7 to be verified was installed on the upper right side of the simulated slope. The center axis of the radar device 7 was aligned with the center point of the slope with the assistance of a total station. The horizontal scanning angle was 30 degrees and the pitch angle of the radar device 7 was adjusted to ±10 degrees.

[0110] A vertical hole was drilled downwards on the upper surface of the simulated slope, and the inclinometer 8 to be verified was installed vertically using a casing embedding process.

[0111] S2: First, the display module 21 on the hydraulic micro-control system 2 returns all hydraulic rods 41 to zero displacement, then sets an initial displacement value for each hydraulic rod 41, and each hydraulic rod starts to move according to the set initial displacement value. The magnetic induction displacement sensor monitors the real-time displacement value of each hydraulic rod.

[0112] S2 includes:

[0113] S201: Each rock block unit 51 in contact with the GNSS displacement monitor 6 is a rock block unit 51 corresponding to the GNSS displacement monitor 6. The initial displacement value of the hydraulic rod 41 connected to these rock block units 51 is set to the same displacement value to ensure the consistency of the reference plane displacement of the GNSS displacement monitor 6.

[0114] S202: Each rock block unit 51 that is in contact with the inclinometer 8 in the vertical direction is a rock block unit 51 corresponding to the inclinometer 8. The initial displacement value of the hydraulic rod 41 connected to these rock block units 51 is set to a gradient value that increases or decreases sequentially to realize the simulation of the layered displacement difference of the inclinometer 8.

[0115] S203: Take all the rock block units 51 that are not in contact with the GNSS displacement monitor 6 and inclinometer 8 as the corresponding rock block units 51 of the radar equipment 7, set the initial displacement value of the hydraulic rods 41 connected to these rock block units 51 to the stepped displacement parameter setting with equal difference, and construct a global continuous deformation gradient field for the radar equipment 7.

[0116] S204: Set the initial displacement value of all hydraulic rods 41 below the support base plate 52 to the same displacement value;

[0117] S205. After the initial displacement value is set, each hydraulic rod 41 begins to move according to the set initial displacement value, and the magnetic induction displacement sensor 45 monitors the real-time displacement value of each hydraulic rod 41.

[0118] S3: The information collection module 22 on the hydraulic micro-control system 2 receives the real-time displacement data monitored by each magnetic induction displacement sensor 45 and the temperature data obtained by the temperature sensor 9, and processes it into data in the format of "monitoring time, displacement at position 1, displacement at position 2, ..., displacement at position 100, displacement at position 101, temperature". Among them, the displacement at position 1, displacement at position 2, ..., displacement at position 100 are the real-time displacement values ​​of the 100 hydraulic rods 41 installed on the left side of the 100 rock block units 51, and the displacement at position 101 is the real-time displacement value of all hydraulic rods 41 under the support base plate 52.

[0119] Then, the information collection module 22 sends the data to the temperature compensation module 25;

[0120] S4: Temperature compensation module 25 uses a multi-layer sensing network algorithm model that integrates physical models to perform temperature drift compensation on each real-time displacement value data, and sends the compensated real-time displacement value data to display module 21, controller module 24 and data storage module 23.

[0121] The specific process of temperature drift compensation in S4 is as follows:

[0122] S401: Determine if there is a saved multilayer perceptron algorithm model that integrates physical models. If there is, jump directly to S407; otherwise, continue executing sequentially.

[0123] S402: First, calculate the temperature compensation value for each real-time displacement data based on the physical model. The specific calculation formula is as follows:

[0124] L 实际 =L 测量 -α·L0·(T 当前 -T 参考 )

[0125] Among them, L 实际 These are temperature compensation values ​​based on a physical model, in mm; L 测量 This is real-time displacement data, in mm; α is the coefficient of linear expansion of the hydraulic rod material at the current temperature, in °C. -1 L0 is the original length of the hydraulic rod at the reference temperature, in mm; T 当前 The current ambient temperature is collected by temperature sensor 9, in °C (°C); T. 参考 This is a reference temperature, in °C, set to a fixed value, typically 20 °C.

[0126] Subsequently, the temperature compensation module 25 acquires the real-time displacement data, temperature data, and temperature compensation value based on the physical model sent by the information collection module 22 as input features, and at the same time measures the real displacement value of each hydraulic rod 41 in real time through a laser interferometer or grating ruler measuring device, and uses it as the output feature.

[0127] Next, the real-time displacement data, temperature, temperature compensation value based on the physical model, and actual displacement value of each hydraulic rod 41 are divided into training set, validation set, and experimental set in a ratio of 8:1:1, and then substituted into the multilayer perceptron algorithm model.

[0128] S403: The hyperparameters of the multilayer perceptron, such as the number of neurons, learning rate, and loss rate, are adjusted through grid search to find the optimal hyperparameters (the grid search function is implemented using the sklearn.model_selection.GridSearchCV method in the Python library, defining the initial number of neurons as 16, 32, 64, and 128, the learning rate as 0.001, 0.005, 0.01, 0.02, and 0.05, the loss rate as 0.1, 0.2, 0.3, and 0.5, the activation function as the ReLU function, and the loss function in the validation set as the monitoring metric).

[0129] S404: Substitute the optimal hyperparameters determined in S403 into the multilayer perceptron algorithm model, set the initial number of training rounds to 200, and use the tf.keras.callbacks.EarlyStopping method in the Python library to dynamically adjust the number of training rounds;

[0130] S405: Uses R 2 The root mean square error (RMSE) is used as an evaluation metric to evaluate the multilayer perceptron algorithm model.

[0131]

[0132] in, y i These are the actual displacement values ​​of each hydraulic rod in S402. The temperature compensation value output by the multilayer sensing network algorithm model is i = 1, 2, 3, ..., n, where n is the total number of actual displacement values. R represents the mean of the temperature compensation values ​​output by the multilayer sensing network algorithm model. 2 The closer a value is to 1, the stronger the model's ability to interpret the data.

[0133]

[0134] Where n is the total number of true displacement values ​​in the dataset, and the smaller the RMSE, the better the model performance;

[0135] S406: Based on evaluation index R 2 If the value is greater than 0.85 and RMSE is less than 0.1, determine whether the termination condition is met. If it is met, terminate the algorithm, save the model, and proceed to S407. If it is not met, return to S403 to continue adjusting the hyperparameter mesh and continue searching for the optimal hyperparameters.

[0136] S407: Temperature compensation module 25 uses the saved model to obtain the temperature compensation value output by the multilayer sensing network algorithm model. That is, the real-time displacement value data of each hydraulic rod 41 after temperature compensation, in the format of "monitoring time, displacement at position 1, displacement at position 2, ..., displacement at position 100, displacement at position 101", and send the data to the display module 21, the controller module 24 and the data storage module 23;

[0137] S5: The display module 21 receives the data processed by the temperature compensation module 25 and displays it on the screen. At the same time, the user inputs the displacement change of each hydraulic rod 41 on the display module 21, forming data in the format of "change time, displacement change at position 1, displacement change at position 2, ..., displacement change at position 100, displacement change at position 101".

[0138] The display module 21 adds the compensated real-time displacement value data obtained in S407 to the displacement data at the corresponding hydraulic rod 41 position in the user-input displacement change data to form the expected displacement value data of each hydraulic rod 41. The data format is "change time, expected displacement at position 1, expected displacement at position 2, ..., expected displacement at position 100, expected displacement at position 101".

[0139] Finally, the display module 21 sends the expected displacement value data of each hydraulic rod 41 to the controller module 24 and the data storage module 23;

[0140] S6: After receiving the real-time displacement value data after temperature compensation sent by the temperature compensation module 25 and the expected displacement value data sent by the display module 21, the data storage module 23 stores the data.

[0141] S7: After receiving the data sent by the temperature compensation module 25 and the display module 21, the controller module 24 compares the expected displacement value data at the corresponding position with the real-time displacement value data after temperature compensation, and controls the actuator 42 to act, thereby controlling the electromagnetic reversing valve 43 to push the rock block unit 51 at the corresponding position to move and generate displacement. Each magnetic induction displacement sensor 45 sends the monitored displacement data after movement to the information collection module 22.

[0142] S8: Repeat S3-S7, keeping the expected displacement data unchanged until the displacement data monitored by each magnetic induction displacement sensor 45 in the controller module 24 after the movement is equal to the corresponding expected displacement data, and obtain a set of experimental data under the current displacement change condition. The initial displacement change of each hydraulic rod 41 is set to be less than the monitoring accuracy of its corresponding GNSS displacement monitor 6, inclinometer 8 and radar equipment 7.

[0143] S9: Repeat S3-S8, keeping the set displacement change constant, and perform multiple repeated experiments to obtain multiple sets of repeated experimental data under the current displacement change condition.

[0144] S10: Read the expected displacement value data of S5 stored in the data storage module 23, i.e., the monitoring data of the hydraulic micro-control system 2, as the theoretical value. Use the displacement value data recorded by the GNSS displacement monitor 6, radar device 7, and inclinometer 8 to be verified as the experimental value. Take the data at the same time as a set of data, analyze it, and evaluate whether the monitoring accuracy of the GNSS displacement monitor 6, inclinometer 8, and radar device 7 meets the evaluation criteria under the current displacement change condition. If it meets the criteria, the current displacement change value is the monitoring accuracy of the GNSS displacement monitor 6, radar device 7, and inclinometer 8. If it does not meet the criteria, increase the input displacement change and repeat S3-S10 until the evaluation criteria are met.

[0145] In S10, the monitoring accuracy of the GNSS displacement monitor, inclinometer, and radar equipment to be verified is evaluated under the current displacement change conditions to meet the evaluation criteria. The specific method is as follows:

[0146] (1) Evaluation of the monitoring accuracy of the GNSS displacement monitor 6 and inclinometer 8 to be verified, the specific method is as follows:

[0147] Let n1 be the number of experiments performed by the GNSS displacement monitor 6 or the inclinometer 8 in S9, and let d be the current displacement change corresponding to the GNSS displacement monitor 6 or the inclinometer 8 in the repeated experiments. k The displacement data monitored by the GNSS displacement monitor 6 or inclinometer 8 to be verified are as follows: The corresponding monitoring data of the hydraulic micro-control system 2, i.e., the expected displacement value data of S5, is y. k (k=1,2,...,n1), the monitoring accuracy of the GNSS displacement monitor 6 and the inclinometer 8 were evaluated by the mean relative error (MRE) and the root mean square error (RMSE), respectively:

[0148]

[0149] MRE reflects the deviation ratio between the self-monitored displacement value data of the GNSS displacement monitor 6 or inclinometer 8 to be verified and the monitoring data of the hydraulic micro-control system 2; RMSE quantifies the dispersion between the self-monitored displacement value data of the GNSS displacement monitor 6 or inclinometer 8 to be verified and the monitoring data of the hydraulic micro-control system 2, effectively characterizing the stability of the equipment in dynamic monitoring.

[0150] Evaluation criteria: When MRE ≥ the first preset threshold or RMSE ≥ the first preset threshold, it proves that the monitoring accuracy of the GNSS displacement monitor or inclinometer to be verified is higher than the current displacement change d. k If the value is large, the condition is not met. Increase the input displacement change and repeat S3-S10.

[0151] When MRE < the first preset threshold and RMSE < the second preset threshold, the condition is met, and the single displacement change d is... k This refers to the actual accuracy of the GNSS displacement monitor or inclinometer to be verified.

[0152] The values ​​of the first preset threshold and the second preset threshold are set according to the experimental requirements;

[0153] (2) The monitoring accuracy assessment of radar device 7 is conducted using the following method:

[0154] Let the number of experiments for radar device 7 in S9 be n2, and use the following formula for evaluation:

[0155]

[0156] In the formula, n4 = n2n3; d f =n4-n3;

[0157] Where, d i These are the monitoring data of all hydraulic micro-control systems 2 of radar equipment 7 corresponding to rock block unit 51 in n2 repeated experiments; It is all d i The mean; s d It is all d i Standard deviation; d j n4 is the current displacement change, i.e., the displacement change input by the user in S5; n2 is the sample size; n3 is the number of repeated experiments; n4 is the number of rock block units 51 corresponding to radar device 7 in a single experiment under the current displacement change condition; d f The degrees of freedom currently being tested;

[0158] Evaluation criteria: Assuming there is no difference between the displacement data monitored by radar device 7 and the monitoring data monitored by hydraulic micro-control system 2, and setting the significance level β = 0.05, indicating that the maximum acceptable Type I error probability is 0.05, the critical t value t is obtained by looking up the t-distribution critical value table. β (d f If t≥t β (d f This indicates that assumption H0 is not true, and there is a significant difference between the displacement value data monitored by radar device 7 and the monitoring data of hydraulic micro-control system 2. Therefore, the condition is not met, the input displacement change is increased, and S3-S10 are repeated until t... <t β (d f ), indicating that if assumption H0 holds, there is no significant difference between the monitoring results of the radar equipment and the monitoring data of the hydraulic micro-control system 2, and d in this case. j This refers to the actual accuracy of the radar equipment.

[0159] Although the present invention has been described in detail above with general descriptions and specific embodiments, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A hydraulically controlled, micro-linked slope multi-modal monitoring equipment accuracy verification system, characterized in that, It includes a simulated slope, multiple hydraulic devices, a temperature sensor, a micro-control terminal, a hydraulic micro-control system, and equipment to be verified, including a GNSS displacement monitor, radar equipment, and an inclinometer. The simulated slope includes several rock block units and a supporting base plate. The rock block units are placed on the upper surface of the supporting base plate and stacked in parallel from bottom to top. They are cut to form a right-angled trapezoidal structure in cross-section. The radar equipment is installed on the upper right side of the simulated slope, and the GNSS displacement monitor and inclinometer are installed on the rock block units at different locations in the simulated slope. A hydraulic device is connected to the left end face of each rock block unit to control the horizontal displacement of each rock block unit; multiple hydraulic devices are installed on the lower surface of the support base plate to control the vertical displacement of the simulated slope; the ends of each hydraulic device located below the support base plate are connected to a horizontal fixing plate. The hydraulic devices connected to the left end face of each rock block unit are connected in series via connecting lines and then connected to the microcontroller terminal via connecting lines. The hydraulic devices located below the support base plate are connected in series via connecting lines and then connected to the microcontroller terminal via connecting lines. The microcontroller terminal is equipped with a hydraulic microcontroller system. A temperature sensor is connected to the hydraulic microcontroller system via a digital signal interface to collect ambient temperature in real time and feed back the temperature data to the hydraulic microcontroller system. The hydraulic microcontroller system is used to set and receive the displacement values ​​of the hydraulic devices, perform temperature drift compensation, store and display the raw displacement data, and control the operation of the hydraulic devices.

2. The accuracy verification system for hydraulically controlled multimodal slope monitoring equipment as described in claim 1, characterized in that, The number of rock block units is 100, arranged in an array of 10 units per row and 10 units per column above the supporting base plate from bottom to top. Each rock block unit is 2.4m long, 0.12m wide, and 0.12m high.

3. The accuracy verification system for hydraulically controlled multimodal slope monitoring equipment as described in claim 1, characterized in that, A lateral constraint plate is fixed vertically on both the front and rear sides of several rock block units, restricting all rock block units, the supporting base plate, and the horizontal fixing plate between the two lateral constraint plates, and constraining the forward and backward movement of all rock block units; the lateral constraint plate has a double-layer structure, with an outer steel plate and an inner polyurethane damping plate. The steel plate and the polyurethane damping plate are bonded and fixed with epoxy resin adhesive, and bolt holes are pre-set on the edge of the steel plate, and the polyurethane damping plate is pressed and fixed by fasteners.

4. The accuracy verification system for hydraulically controlled multimodal slope monitoring equipment as described in claim 1, characterized in that, Each of the hydraulic devices connected to the left end face of each rock block unit is connected to a vertical fixing plate, and the bottom end of the vertical fixing plate is fixed to the left end face of the support base plate.

5. The accuracy verification system for hydraulically controlled multimodal slope monitoring equipment as described in claim 1, characterized in that, The hydraulic device includes a hydraulic rod, a driver, a solenoid directional valve, two hydraulic pipes, and a magnetic displacement sensor. The hydraulic rod has two hydraulic pipes, and a solenoid directional valve is installed on each of the two hydraulic pipes. The solenoid directional valve is connected to the driver, which controls the operation of the solenoid directional valve, thereby controlling the oil volume in the two hydraulic pipes connected to the solenoid directional valve, and thus controlling the extension and retraction displacement of the hydraulic rod. A magnetic displacement sensor is also installed on the hydraulic rod to measure its displacement value. The hydraulic micro-control system includes an information collection module, a temperature compensation module, a display module, a data storage module, and a controller module. The information collection module is also connected to the temperature compensation module, which is connected to the display module, controller module, and data storage module respectively. The controller module is also connected to the driver signal of the hydraulic device, and the display module is also connected to the data storage module and controller module respectively. The information collection module is connected to the temperature sensor and all magnetic induction displacement sensors. The information collection module is used to receive the temperature monitoring data from the temperature sensor and the real-time displacement value monitoring data sent by the magnetic induction displacement sensors in each hydraulic device, and to process them. The temperature compensation module is used to receive the processed displacement value monitoring data and temperature monitoring data sent by the information collection module, and to use the built-in multilayer sensing network algorithm model of the fusion physical model to perform temperature drift compensation on the real-time displacement value monitoring data sent by each magnetic induction displacement sensor to obtain the compensated displacement value data. The display module is used to display the current displacement values ​​of each hydraulic rod, as well as to set and modify data; The data storage module is used to store the displacement value data after compensation by the temperature compensation module, as well as records of user-modified data; The controller module is used to receive data sent by the temperature compensation module and the display module, and control the actuator to control the solenoid directional valve, thereby driving the hydraulic rod to move through the solenoid directional valve.

6. A verification method for the accuracy verification system of the hydraulically micro-controlled multimodal slope monitoring equipment as described in any one of claims 1-5, wherein the method is implemented based on the hydraulically micro-controlled multimodal slope monitoring equipment accuracy verification system, characterized in that... The method specifically includes the following steps: S1: Fix the GNSS displacement monitoring instrument to be verified on the upper surface of the simulated slope; The radar equipment to be verified is installed on the upper right side of the simulated slope. The center axis of the radar equipment is aligned with the center point of the slope using a total station. The horizontal scanning angle is ≥30 degrees and the elevation angle of the radar equipment is adjusted to ±10 degrees. A vertical hole was drilled downwards on the upper surface of the simulated slope, and the inclinometer to be verified was installed vertically using a casing embedding process. S2: First, the display module on the hydraulic micro-control system returns all hydraulic rod displacements to zero. Then, an initial displacement value is set for each hydraulic rod, and each hydraulic rod begins to move according to the set initial displacement value. The magnetic induction displacement sensor monitors the real-time displacement value of each hydraulic rod. S3: The information collection module on the hydraulic micro-control system receives real-time displacement data monitored by each magnetic induction displacement sensor and temperature data acquired by the temperature sensor, and processes it; then, the information collection module sends the data to the temperature compensation module. S4: The temperature compensation module uses a multi-layer sensing network algorithm model that integrates physical models to perform temperature drift compensation on each real-time displacement value data, and sends the compensated real-time displacement value data to the display module, controller module and data storage module. S5: The display module receives the data processed by the temperature compensation module and displays it on the screen. At the same time, the user inputs the displacement change of each hydraulic rod on the display module. The display module adds the compensated real-time displacement value data to the displacement data of the corresponding hydraulic rod in the displacement change data input by the user to form the expected displacement value data of each hydraulic rod. Finally, the display module sends the expected displacement values ​​of each hydraulic rod to the controller module and the data storage module; S6: After receiving the real-time displacement value data after temperature compensation sent by the temperature compensation module and the expected displacement value data sent by the display module, the data storage module stores the data. S7: After receiving the data sent by the temperature compensation module and the display module, the controller module compares the expected displacement value data at the corresponding position with the real-time displacement value data after temperature compensation, and controls the actuator to act, thereby controlling the electromagnetic reversing valve to push the rock block unit at the corresponding position to move and generate displacement. Each magnetic induction displacement sensor sends the monitored displacement data after movement to the information collection module. S8: Repeat S3-S7, keeping the expected displacement value data unchanged until the displacement data after movement monitored by each magnetic induction displacement sensor in the controller module is equal to the corresponding expected displacement value data, and obtain a set of experimental data under the current displacement change condition. The initial displacement change of each hydraulic rod is set to be less than the monitoring accuracy of its corresponding GNSS displacement monitor, inclinometer and radar equipment. S9: Repeat S3-S8, keeping the displacement change constant, and conduct multiple repeated experiments to obtain multiple sets of repeated experimental data under the current displacement change condition. S10: Read the expected displacement value data of S5 stored in the data storage module, i.e., the monitoring data of the hydraulic micro-control system, as the theoretical value. Use the displacement value data recorded by the GNSS displacement monitor, radar equipment, and inclinometer to be verified as the experimental value. Take the data at the same time as a set of data, analyze it, and evaluate whether the monitoring accuracy of the GNSS displacement monitor, inclinometer, and radar equipment to be verified meets the evaluation criteria under the current displacement change condition. If it meets the criteria, the current displacement change value is the monitoring accuracy of the GNSS displacement monitor, radar equipment, and inclinometer. If it does not meet the criteria, increase the input displacement change value and repeat S3-10 until the evaluation criteria are met.

7. The verification method for the accuracy verification system of the hydraulic micro-control linkage slope multimodal monitoring equipment as described in claim 6, characterized in that, S2 specifically includes the following steps: S201: Each rock block unit in contact with the GNSS displacement monitor is a rock block unit corresponding to the GNSS displacement monitor. The initial displacement value of the hydraulic rods connected to these rock block units is set to the same displacement value to ensure the consistency of the GNSS displacement monitor's reference plane displacement. S202: Each rock block unit in vertical contact with the inclinometer is a rock block unit corresponding to the inclinometer. The initial displacement value of the hydraulic rods connected to these rock block units is set to a gradient value that increases or decreases sequentially to realize the simulation of the layered displacement difference of the inclinometer. S203: Treat all rock block units that are not in contact with the GNSS displacement monitor and inclinometer as the corresponding rock block units of the radar equipment, set the initial displacement values ​​of the hydraulic rods connected to these rock block units to a stepped displacement parameter setting with equal differences, and construct a global continuous deformation gradient field for the radar equipment. S204: Set the initial displacement value of all hydraulic rods under the support base plate to the same displacement value; S205: After the initial displacement value is set, each hydraulic rod begins to move according to the set initial displacement value, and the magnetic induction displacement sensor monitors the real-time displacement value of each hydraulic rod.

8. The verification method for the accuracy verification system of the hydraulic micro-control linkage slope multimodal monitoring equipment as described in claim 6, characterized in that, The specific process of temperature drift compensation in S4 is as follows: S401: Determine if there is a saved multilayer perceptron algorithm model that integrates physical models. If there is, jump directly to S407; otherwise, continue executing sequentially. S402: First, calculate the temperature compensation value for each real-time displacement data based on the physical model. The specific calculation formula is as follows: L 实际 =L 测量 -α·L0·(T 当前 -T 参考 ) Among them, L 实际 These are temperature compensation values ​​based on a physical model, in mm; L 测量 This is real-time displacement data, in mm; α is the coefficient of linear expansion of the hydraulic rod material at the current temperature, in °C. -1 L0 is the original length of the hydraulic rod at the reference temperature, in mm; T 当前 The current ambient temperature is collected by a temperature sensor, in °C; T. 参考 Reference temperature, unit: °C; Then, the temperature compensation module uses the acquired real-time displacement data, temperature data, and temperature compensation value based on the physical model as input features, and at the same time uses a laser interferometer or grating ruler measuring device to measure the real displacement value of each hydraulic rod in real time, and uses it as output features. Next, the real-time displacement data, temperature, temperature compensation value based on the physical model, and actual displacement value of each hydraulic rod are divided into training set, validation set, and experimental set in a ratio of 8:1:1, and then substituted into the multilayer perceptron algorithm model. S403: The hyperparameters of the multilayer perceptron, such as the number of neurons, learning rate, and loss rate, are adjusted through grid search to find the optimal hyperparameters; S404: Substitute the optimal hyperparameters determined in S403 into the multilayer perceptron algorithm model, set the initial number of training rounds to 200, and use the tf.keras.callbacks.EarlyStopping method in the Python library to dynamically adjust the number of training rounds; S405: Uses R 2 The root mean square error (RMSE) is used as an evaluation metric to evaluate the multilayer perceptron algorithm model. in, y i These are the actual displacement values ​​of each hydraulic rod in S402. The temperature compensation value output by the multilayer sensing network algorithm model is i = 1, 2, 3, ..., n, where n is the total number of actual displacement values. The mean value of the temperature compensation output by the multilayer sensing network algorithm model; R 2 The closer a value is to 1, the stronger the model's ability to interpret the data. Where n is the total number of true displacement values ​​in the dataset, and the smaller the RMSE, the better the model performance; S406: Based on evaluation index R 2 If the hyperparameters are greater than 0.85 and RMSE is less than 0.1, determine if the termination condition is met. If it is met, terminate the process, save the model, and proceed to S407. If not, return to S403 to adjust the hyperparameter mesh and continue searching for the optimal hyperparameters. S407: The temperature compensation module uses the saved model to obtain the temperature compensation value output by the multilayer sensing network algorithm model. This refers to the real-time displacement value data after temperature compensation, which is then sent to the display module, controller module, and data storage module.

9. The verification method for the accuracy verification system of the hydraulic micro-control linkage slope multimodal monitoring equipment as described in claim 6, characterized in that, In S10, the monitoring accuracy of the GNSS displacement monitor, inclinometer, and radar equipment to be verified is evaluated under the current displacement change conditions to meet the evaluation criteria. The specific method is as follows: (1) Evaluation of the monitoring accuracy of the GNSS displacement monitoring instrument and inclinometer to be verified, the specific method is as follows: Let n1 be the number of experiments conducted by the GNSS displacement monitor or inclinometer in S9, and let d be the current displacement change corresponding to the GNSS displacement monitor or inclinometer in repeated experiments. k Current displacement change d k Under the given conditions, the displacement data monitored by the GNSS displacement monitor or inclinometer to be verified are: The corresponding monitoring data of the hydraulic micro-control system, namely the expected displacement value data of S5, is y. k For k = 1, 2, ..., n1, the monitoring accuracy of the GNSS displacement monitor and inclinometer is evaluated using the mean relative error (MRE) and root mean square error (RMSE), respectively. MRE reflects the deviation ratio between the self-monitored displacement value data of the GNSS displacement monitor or inclinometer to be verified and the monitoring data of the hydraulic micro-control system; RMSE quantifies the dispersion between the self-monitored displacement value data of the GNSS displacement monitor or inclinometer to be verified and the monitoring data of the hydraulic micro-control system, effectively characterizing the stability of the equipment in dynamic monitoring. Evaluation criteria: When MRE ≥ the first preset threshold or RMSE ≥ the first preset threshold, it proves that the monitoring accuracy of the GNSS displacement monitor or inclinometer to be verified is higher than the current displacement change d. k If the value is large, the condition is not met. Increase the input displacement change and repeat S3-S10. When MRE < the first preset threshold and RMSE < the second preset threshold, the condition is met, and the single displacement change d is... k This refers to the actual accuracy of the GNSS displacement monitor or inclinometer to be verified. The values ​​of the first preset threshold and the second preset threshold are set according to the experimental requirements; (2) Evaluation of the monitoring accuracy of radar equipment, the specific method is as follows: Let the number of experiments conducted on the radar equipment in S9 be n², and use the following formula for evaluation: In the formula, n4 = n2n3; d f =n4-n3; Where, d i It is the monitoring data of all hydraulic micro-control systems of all rock block units corresponding to the radar equipment in n2 repeated experiments; It is all d i The mean; s d It is all d i Standard deviation; d j n is the current displacement change; n4 is the sample size; n2 is the number of repeated experiments; n3 is the number of rock block units corresponding to the radar equipment in a single experiment under the current displacement change condition; d f The degrees of freedom currently being tested; Evaluation criteria: Assuming there is no difference between the displacement data monitored by the radar equipment itself and the monitoring data monitored by the hydraulic micro-control system, and setting the significance level β = 0.05, indicating that the maximum acceptable Type I error probability is 0.05, the critical t value t is obtained by looking up the critical value table of t-distribution. β (d f If t≥t β (d f The statement indicates that assumption H0 is not true, meaning there is a significant difference between the radar device's self-monitored displacement data and the hydraulic micro-control system's monitoring data. Therefore, the condition is not met, and the input displacement change is increased. S3-S10 are repeated until t... <t β (d f ), indicating that if assumption H0 holds, there is no significant difference between the radar equipment monitoring results and the hydraulic micro-control system monitoring data, then d j This refers to the actual accuracy of the radar equipment.

Images