Deformed rolling stone integrated road slope radar monitoring system and detection method

Abstract

The invention discloses a deformation rolling stone integrated road slope radar monitoring system and a detection method, and belongs to the field of radar detection, the deformation rolling stone integrated road slope radar monitoring system comprises a signal processing module, a multi-channel radio frequency module and an antenna array module, the multi-channel radio frequency module is connected with the signal processing module through a hardware line, and the antenna array module is connected with the signal processing module. The antenna array module is connected with the multi-channel radio frequency module through a hardware line; the signal processing module comprises a programmable main control chip, a data memory, an analog-to-digital converter and a direct digital frequency synthesizer, a line of the signal processing module is also connected with a camera, and the system also comprises a power supply module for supplying power to the signal processing module, the multi-channel radio frequency module and the camera. According to the deformation and rolling stone integrated road slope radar monitoring system and the detection method, deformation and rolling stone integrated monitoring is realized, two sets of equipment do not need to be arranged, the cost and the arrangement difficulty are reduced, early warning is reliable, the environmental adaptability is high, and the requirement for long-term field road monitoring is met.

Description

Technical Field

[0001] This invention relates to the field of radar detection technology, and in particular to an integrated radar monitoring system and detection method for deformed and rolling stone-bearing highway slopes. Background Technology

[0002] With the rapid development of my country's transportation infrastructure, the highway network is increasingly covering complex geological areas such as mountains and hills, resulting in the formation of numerous artificial roadside slopes. Over long-term operation, these slopes are continuously affected by multiple factors, including geological tectonic activity, rainfall erosion, weathering, and vehicle vibration, leading to a gradual decline in stability and making them highly susceptible to geological disasters such as landslides and collapses. These disasters are characterized by their suddenness and destructive power, causing not only damage to highway facilities and traffic disruptions, resulting in huge direct economic losses, but also posing a fatal threat to the lives of passing vehicles and drivers. Therefore, implementing long-term, precise stability monitoring of highway roadside slopes and achieving early warning of disasters has become a critical issue that urgently needs to be addressed in highway operation safety management.

[0003] Traditional slope monitoring methods (such as total station measurement, GPS positioning, inclinometer monitoring, etc.) generally have obvious limitations: they can only achieve point-based monitoring, with limited coverage, making it difficult to reflect the overall stability of the slope; the monitoring frequency is low, the real-time performance is insufficient, and it is impossible to capture sudden emergencies in a timely manner; moreover, they are significantly affected by weather conditions and cannot work normally in severe weather such as heavy rain and fog, which can no longer meet the urgent needs of modern highway safety management.

[0004] Against this backdrop, slope radar based on synthetic aperture radar interferometry (InSAR) technology has demonstrated significant advantages in slope monitoring fields such as open-pit mines due to its technical advantages of non-contact, large-area, high-precision, and continuous monitoring around the clock and in all weather conditions.

[0005] However, when applying slope radar to the specific scenario of roadside, the monitoring requirements are as follows: in addition to the traditional landslide early warning based on slope deformation, the monitoring must also realize the functions of rockfall monitoring and early warning. At present, there is no radar system that can simultaneously take into account both landslide early warning and rockfall monitoring. Furthermore, the monitoring equipment needs to be exposed to the field for a long time, and the requirements for the environmental adaptability of the equipment are extremely high.

[0006] In the prior art, patent application number CN115097447B discloses a low-cost, high-stability MIMO slope deformation monitoring radar system, which can realize slope deformation monitoring and landslide early warning functions, but cannot meet the requirements for rockfall monitoring. Patent application number CN111983604A discloses a low-power rockfall monitoring radar system, but cannot simultaneously realize slope deformation monitoring functions.

[0007] Therefore, existing technologies all suffer from the drawback of being single-function, making it difficult to meet the dual monitoring needs of highway slope deformation and rockfall, and also difficult to meet the requirements of long-term high-precision deformation extraction and short-term rapid rockfall identification. Summary of the Invention

[0008] The purpose of this invention is to address the problem that existing slope radar systems, when applied to the specific scenario of highway roadside, struggle to meet the dual requirements of monitoring highway slope deformation and rockfall, and also fail to simultaneously satisfy the requirements of long-term high-precision deformation extraction and short-term rapid rockfall identification. Therefore, this invention proposes an integrated deformation and rockfall highway slope radar monitoring system and detection method.

[0009] To achieve the above objectives, the present invention employs the following technology: an integrated radar monitoring system and detection method for deformable and rolling stone-bearing highway slopes, comprising a signal processing module, a multi-channel radio frequency module, and an antenna array module. The multi-channel radio frequency module is connected to the signal processing module via hardware circuitry, and the antenna array module is connected to the multi-channel radio frequency module via hardware circuitry. The signal processing module includes a programmable main control chip, a data memory, an analog-to-digital converter, and a direct digital frequency synthesizer. A camera is also connected to the circuit of the signal processing module. The system also includes a power supply module for supplying power to the signal processing module, the multi-channel radio frequency module, and the camera.

[0010] As a further description of the above technical solution: the multi-channel RF module has a symmetrical structure design to ensure that the amplitude and phase of the multiple channels are highly consistent.

[0011] As a further description of the above technical solution: the main control chip is connected to the data memory, the analog-to-digital converter and the direct digital frequency synthesizer via circuits.

[0012] As a further description of the above technical solution: the antenna array module includes a plurality of antennas, wherein the plurality of antennas are arranged at intervals to form an array structure.

[0013] As a further description of the above technical solution: the camera is connected to the main control chip interface of the signal processing module through a detachable signal connector.

[0014] As a further description of the above technical solution: the power module includes a power converter and a power supply interface. The output end of the power converter is connected to the power input end of the signal processing module, the multi-channel radio frequency module and the camera respectively through the power supply interface.

[0015] A detection method for an integrated radar monitoring system for deformed and rolling stones on highway slopes, based on any one of the above-mentioned methods, includes the following steps: S1. System Deployment: Deploy the monitoring system in the highway slope monitoring area, ensuring that the antenna array module's antenna faces the entire monitoring slope area, and power the signal processing module, multi-channel radio frequency module, and camera through the power module; S2. Signal Acquisition: The main control chip outputs timing control signals to drive the multi-channel RF module and antenna array module to perform time-division multiplexing and transmitting operations, sequentially turning on each group of transceiver pairs. Each group of transceiver pairs continuously transmits N PRT signals and synchronously receives the slope echo signal. The echo signal is down-converted and amplified by the multi-channel RF module and then transmitted to the analog-to-digital converter to complete AD sampling. The sampled data is temporarily stored in the data memory until all channels are combined and acquired. S3. Signal preprocessing: Based on the preset channel correction factor, the influence of multi-channel amplitude and phase differences on deformation phase measurement and rolling stone target identification is eliminated. Then, Hanning window and other window functions are applied to the corrected signal to suppress spectral leakage and improve the signal-to-noise ratio. S4. Deformation monitoring signal processing: Perform azimuth downsampling, range FFT, MIMO-SAR imaging, differential interferometry processing and deformation calculation on the preprocessed data. When the deformation exceeds the preset threshold, it is marked as a deformation hazard. S5. Stone detection signal processing: Perform clutter suppression, range-Doppler analysis, CFAR detection and target trajectory tracking on N consecutive PRT signals of each transmit and receive pair. When the tracked target meets the preset stone detection conditions, it is marked as a stone hazard. S6. Dual Monitoring Collaboration and Cross-Verification: If a deformation hazard or rockfall hazard is marked, the main control chip sends a trigger signal to the camera through a detachable signal connector to start the camera to capture optical images. When deformation monitoring detects accelerated deformation in a certain area, it may be considered that the rockfall monitoring sampling rate in that area has been increased to predict the risk of rockfall caused by collapse in advance. When rockfall monitoring detects a target, it links with deformation monitoring data to verify whether there are any abnormal deformations in the area in the early stage, and assists in the determination of the hazard level.

[0016] As a further description of the above technical solution: In step S2, the time-division transceiver operation is specifically as follows: each time only one transmit channel and one receive channel are turned on to form a transceiver pair. After each transceiver pair completes the transmission and echo acquisition of N PRT signals, it switches to the next transceiver pair until all channels are combined and acquired.

[0017] As a further description of the above technical solution: In step S5, the rolling stone determination conditions are: the target speed exceeds the minimum threshold of the rolling stone, the trajectory conforms to the characteristics of falling or rolling, and the duration exceeds the preset value.

[0018] As a further description of the above technical solution: In step S6, the rolling stone monitoring is a sudden emergency, and the processor allocates a higher computing hardware platform to it to ensure the response of the early warning; the deformation monitoring is based on complex algorithm processing and long-term monitoring mode, and is placed in the background software processing, which does not affect the real-time performance of the rolling stone monitoring.

[0019] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. Integrated design: Simultaneously realizes deformation monitoring and rockfall monitoring, overcomes the limitations of single monitoring methods for highway slopes, eliminates the need to deploy two additional sets of equipment, and reduces costs and deployment difficulty; 2. The signal processing flow is adapted to dual monitoring requirements: it ensures both sub-millimeter accuracy for deformation monitoring and real-time performance for stone rolling monitoring, taking into account both long-term trends and sudden emergencies. 3. Cross-validation and optical verification mechanism: Reduce false alarm rate and solve the reliability problem of single sensor monitoring in complex field environments. Attached Figure Description

[0020] Figure 1 A schematic diagram of the overall structure provided according to an embodiment of the present invention is shown; Figure 2 A schematic diagram of the structure of a signal processing module provided according to an embodiment of the present invention is shown; Figure 3 A schematic diagram of the structure of an antenna array module provided according to an embodiment of the present invention is shown; Figure 4 A block diagram illustrating the principle of a detection method provided according to an embodiment of the present invention is shown.

[0021] Legend: 10. Signal processing module; 20. Multi-channel RF module; 30. Antenna array module; 40. Camera; 50. Power supply module; 11. Main control chip; 12. Data storage; 13. Analog-to-digital converter; 14. Direct digital frequency synthesizer; 31. Antenna. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Reference Figures 1-4This embodiment provides an integrated radar monitoring system and detection method for deformable and rolling stone-prone highway slopes, including a signal processing module 10, a multi-channel radio frequency module 20, an antenna array module 30, a camera 40, and a power supply module 50. The multi-channel radio frequency module 20 is connected to the signal processing module 10 via hardware lines, and the antenna array module 30 is connected to the multi-channel radio frequency module 20 via hardware lines. The power supply module 50 includes a power converter and a power supply interface. The output terminal of the power converter is connected to the electrical input terminals of the signal processing module 10, the multi-channel radio frequency module 20, and the camera 40 via the power supply interface, respectively, for supplying power to the signal processing module 10, the multi-channel radio frequency module 20, and the camera 40.

[0024] In this invention, the system operates in the Ku band and adopts a linear frequency modulated continuous wave system. The power module 50 converts the input power into working power adapted to each module through a power converter, and provides stable power to the signal processing module 10, the multi-channel radio frequency module 20 and the camera 40 through the power supply interface to ensure the continuous operation of the system. The signal processing module 10 serves as the core control unit and includes a programmable main control chip 11, a data memory 12, an analog-to-digital converter 13, and a direct digital frequency synthesizer 14. The main control chip 11 is connected to the data memory 12, the analog-to-digital converter 13, and the direct digital frequency synthesizer 14 via circuits. The direct digital frequency synthesizer 14 generates a broadband signal and transmits it to the multi-channel radio frequency module 20. The multi-channel radio frequency module 20 up-converts and amplifies the received signal before transmitting it to the slope via the antenna array module 30. After receiving the slope echo signal, the antenna array module 30 transmits it back to the multi-channel radio frequency module 20 for down-conversion and power amplification. The processed baseband signal is then transmitted to the analog-to-digital converter 13 of the signal processing module 10 for AD sampling. After preprocessing the sampled data, the main control chip 11 achieves sub-millimeter deformation monitoring through long-term signal accumulation and real-time stone identification and trajectory tracking through high-frequency sampling. When a hazard is detected, the main control chip 11 sends a trigger signal to the camera 40 through a detachable signal connector to activate the camera 40 for optical confirmation. At the same time, the monitoring data and confirmation image are stored in the data storage 12 for subsequent tracing and analysis. The camera 40 is connected to the main control chip 11 interface of the signal processing module 10 through a detachable signal connector.

[0025] It should be noted that the multi-channel RF module 20 has a symmetrical structure design to ensure that the amplitude and phase of the multiple channels are highly consistent. The symmetrical structure can eliminate the inherent amplitude and phase deviation between channels, ensure the phase consistency of the slope echo signal received by each channel, avoid false errors in deformation calculation due to channel differences, and ensure the phase measurement accuracy of long-term monitoring.

[0026] In this embodiment, the antenna array module 30 includes a plurality of antennas 31, which are arranged at intervals to form an array structure. The array structure, through the spaced arrangement of multiple antennas 31, can form a wide-bandwidth beam signal, expanding the coverage range of radar monitoring and adapting to the monitoring requirements of highway slopes. Compared to a single antenna, the array layout allows the signal to uniformly cover the entire slope area, avoiding monitoring blind spots and ensuring that both the overall deformation trend of the slope can be captured, and the potential rockfall targets in different areas can be comprehensively detected, solving the problem of insufficient coverage in traditional point-based monitoring.

[0027] A detection method for an integrated radar monitoring system for deformed and rolling stones on highway slopes, based on any one of the above-mentioned methods, includes the following steps: (a) System deployment: The monitoring system is deployed in the highway slope monitoring area, ensuring that the antenna 31 of the antenna array module 30 faces the entire monitoring slope area, and the power supply module 50 supplies power to the signal processing module 10, the multi-channel radio frequency module 20 and the camera 40.

[0028] (ii) Signal acquisition: The main control chip 11 outputs timing control signals to drive the multi-channel radio frequency module 20 and the antenna array module 30 to perform time-division multiplexing operations, sequentially turning on each group of transceiver pairs. Each group of transceiver pairs continuously transmits N PRT signals and synchronously receives the slope echo signals. The echo signals are down-converted and amplified by the multi-channel radio frequency module 20 and then transmitted to the analog-to-digital converter 13 to complete AD sampling. The sampled data is temporarily stored in the data memory 12 until all channels are combined and acquired. The time-division multiplexing operation is as follows: each time only one transmit channel and one receive channel are activated to form a transceiver pair. After each transceiver pair completes the transmission and echo acquisition of N PRT signals, it switches to the next transceiver pair until all channels are combined and acquired.

[0029] The advantage of this method is that it can simultaneously meet the different requirements of deformation monitoring and stone rolling monitoring for sampling signals. The sampling requirements are as follows: Deformation monitoring requires a long accumulation time to improve phase measurement accuracy. Long-term signal accumulation is achieved through the complete acquisition cycle of all channels (accumulating multiple sets of PRT signals) to meet the sub-millimeter deformation measurement requirements. Rolling stone monitoring requires a high sampling rate to capture fast-moving targets. High-density sampling of the target trajectory is achieved by acquiring N consecutive PRT signals from a single transceiver pair at high speed, thus avoiding missed detections or trajectory breaks.

[0030] (III) Signal preprocessing: Based on the preset channel correction factor, the influence of multi-channel amplitude and phase difference on deformation phase measurement and rolling stone target identification is eliminated. Then, Hanning window and other window functions are applied to the corrected signal to suppress spectral leakage and improve the signal-to-noise ratio.

[0031] (iv) Deformation monitoring signal processing: The preprocessed data undergoes azimuth downsampling, range FFT, MIMO-SAR imaging, differential interferometry processing, and deformation calculation. When the deformation exceeds a preset threshold, it is marked as a deformation hazard, specifically: Azimuth downsampling: For all channel combinations, the acquired data is averaged by channel grouping, using the following formula: (K is the number of channel combinations), compressing the amount of data while retaining the phase information accumulated over a long period of time, thus improving the signal-to-noise ratio of the deformed signal; Range-direction FFT: Converts the downsampled signal to the frequency domain to extract the frequency information of the target and radar. Formula: And determine the distance coordinates of different areas of the slope to provide distance dimension data for subsequent imaging; MIMO-SAR imaging: Based on multi-channel echo data, azimuth back projection is performed to generate high-resolution SAR images of the slope area. Formula: (Tmn represents the transmit / receive pair and the echo delay to the target), enabling large-area continuous imaging coverage; Differential interferometry: Phase extraction is performed on time-series SAR images. Through real-time PS point selection, phase unwrapping, and atmospheric phase correction, the phase changes of each pixel on the slope are obtained. ,formula: ( , (phase at different times); Deformation calculation: Based on the relationship between phase change and λ, the deformation of each pixel is calculated using the following formula: (λ is the wavelength corresponding to the center frequency). When d exceeds the preset threshold, a deformation warning is triggered and the camera is activated for confirmation.

[0032] (V) Stone Throwing Monitoring Signal Processing: For each pair of transmitters and receivers, N consecutive PRT signals are processed for clutter suppression, range-Doppler analysis, CFAR detection, and target trajectory tracking. When the tracked target meets the preset stone throwing criteria, it is marked as a stone throwing hazard. The stone throwing criteria are: the target speed exceeds the minimum stone throwing threshold, the trajectory conforms to falling or rolling characteristics, and the duration exceeds a preset value. Specifically: Clutter suppression processing is performed on N consecutive PRT signals of each transmit / receive pair; Range-Doppler analysis: Perform range-direction FFT and velocity-direction FFT on high-sampling-rate signals to obtain two-dimensional range-velocity information of the target. Formula: ; CFAR Detection: A constant false alarm rate (CFAR) detection algorithm is used to extract rolling stone targets from the range-velocity two-dimensional spectrum. The formula is: (T is the detection threshold, α is the false alarm rate coefficient, and μ_noise is the mean background noise). When the signal amplitude exceeds T, it is judged as a suspected rolling stone target. Target trajectory tracking: Based on the identified target peak value, read its corresponding range frequency point f_r and Doppler frequency point f_d; substitute the range frequency point f_r into the formula: (R is the target distance, c is the speed of light, and k is the frequency modulation slope) The radial distance information of the rolling stone can be obtained. Substituting the Doppler frequency point f_d into the formula: (λ=c / f0, f0 is the radar center frequency) The radial velocity information of the rolling stone can be obtained; based on the "range-velocity" sequence, a reasonable correlation threshold is set. If the difference between the "range-velocity" detected by the current PRT and the "range-velocity" of a target in the previous PRT is within the threshold and the trend of change is continuous, it is determined to be the same target; if it exceeds the threshold or there is no matching target, it is marked as a new target; based on the correlation results, the Kalman filter algorithm is used to track the trajectory of the same target: with "radial distance, radial velocity" as the state vector X, the filtering formula is: (A is a 2×2 state transition matrix, describing the temporal change of distance with velocity; k is the PRT index; W_k is the process noise) Predict the state at the next moment and correct it with the measured value to ensure that the trajectory is continuous and unbroken during the target's movement, and accurately lock the movement trend of the same rolling stone. Rockfall detection and warning: When the tracked target meets the following conditions, such as "speed exceeding the minimum threshold for rockfall, trajectory conforming to falling / rolling characteristics, and duration exceeding the preset value", it is determined to be a rockfall hazard, triggering a buzzer alarm, broadcasting warnings to the roadside and sending text messages to staff, and activating the camera to automatically take pictures for confirmation.

[0033] (vi) Dual monitoring collaboration and cross-verification: If deformation hazard or rockfall hazard is marked, the main control chip 11 sends a trigger signal to the camera 40 through a detachable signal connector to start the camera to capture optical images. When deformation monitoring detects accelerated deformation in a certain area, it may be considered that the rockfall monitoring sampling rate in that area has been increased to predict the risk of rockfall caused by collapse in advance. When rockfall monitoring detects a target, it links deformation monitoring data to verify whether there are any abnormal deformations in the area in the early stage, and assists in the determination of the hazard level. For sudden emergencies, the rolling stone monitoring system allocates a higher computing hardware platform to ensure the response to early warnings; deformation monitoring, based on complex algorithm processing and long-term monitoring modes, is processed in the background software and does not affect the real-time performance of the rolling stone monitoring.

[0034] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A radar monitoring system for deformed and rolling stone-damped highway slopes, characterized in that, It includes a signal processing module (10), a multi-channel radio frequency module (20) and an antenna array module (30). The multi-channel radio frequency module (20) is connected to the signal processing module (10) through hardware lines, and the antenna array module (30) is connected to the multi-channel radio frequency module (20) through hardware lines. The signal processing module (10) includes a programmable main control chip (11), a data memory (12), an analog-to-digital converter (13), and a direct digital frequency synthesizer (14). A camera (40) is also connected to the circuit of the signal processing module (10). The system also includes a power supply module (50) for supplying power to the signal processing module (10), the multi-channel radio frequency module (20), and the camera (40).

2. The integrated radar monitoring system for deformed and rolling stones on highway slopes according to claim 1, characterized in that, The multi-channel RF module (20) is designed with a symmetrical structure to ensure that the amplitude and phase of the multiple channels are highly consistent.

3. The integrated radar monitoring system for deformed and rolling stone-bearing highway slopes according to claim 1, characterized in that, The main control chip (11) is connected to the data memory (12), the analog-to-digital converter (13) and the direct digital frequency synthesizer (14) respectively via lines.

4. The integrated radar monitoring system for deformed and rolling stone-damped highway slopes according to claim 1, characterized in that, The antenna array module (30) includes a plurality of antennas (31), wherein the plurality of antennas (31) are arranged at intervals to form an array structure.

5. The integrated radar monitoring system for deformed and rolling stones on highway slopes according to claim 1, characterized in that, The camera (40) is connected to the main control chip (11) of the signal processing module (10) via a detachable signal connector.

6. The integrated radar monitoring system for deformed and rolling stone-damped highway slopes according to claim 1, characterized in that, The power module (50) includes a power converter and a power supply interface. The output of the power converter is connected to the electrical input of the signal processing module (10), the multi-channel radio frequency module (20) and the camera (40) respectively through the power supply interface.

7. A detection method for the integrated deformation and rockfall radar monitoring system for highway slopes based on any one of claims 1-6, characterized in that, Includes the following steps: S1. System deployment: The monitoring system is deployed in the highway slope monitoring area, ensuring that the antenna (31) of the antenna array module (30) faces the entire monitoring slope area, and the power supply module (50) supplies power to the signal processing module (10), the multi-channel radio frequency module (20) and the camera (40); S2, Signal Acquisition: The main control chip (11) outputs timing control signals to drive the multi-channel radio frequency module (20) and the antenna array module (30) to perform time-division multiplexing operations, sequentially turning on each group of transceiver pairs. Each group of transceiver pairs continuously transmits N PRT signals and synchronously receives the slope echo signal. The echo signal is down-converted and amplified by the multi-channel radio frequency module (20) and then transmitted to the analog-to-digital converter (13) to complete AD sampling. The sampled data is temporarily stored in the data memory (12) until all channels are combined and acquired. S3. Signal preprocessing: Based on the preset channel correction factor, the influence of multi-channel amplitude and phase differences on deformation phase measurement and rolling stone target identification is eliminated. Then, Hanning window and other window functions are applied to the corrected signal to suppress spectral leakage and improve the signal-to-noise ratio. S4. Deformation monitoring signal processing: Perform azimuth downsampling, range FFT, MIMO-SAR imaging, differential interferometry processing and deformation calculation on the preprocessed data. When the deformation exceeds the preset threshold, it is marked as a deformation hazard. S5. Stone detection signal processing: Perform clutter suppression, range-Doppler analysis, CFAR detection and target trajectory tracking on N consecutive PRT signals of each transmit and receive pair. When the tracked target meets the preset stone detection conditions, it is marked as a stone hazard. S6. Dual monitoring collaboration and cross-verification: If a deformation hazard or a rockfall hazard is marked, the main control chip (11) sends a trigger signal to the camera (40) through a detachable signal connector to start the camera to capture optical images. When deformation monitoring detects accelerated deformation in a certain area, it may be considered that the rockfall monitoring sampling rate in that area has been increased, and the risk of rockfall caused by collapse can be predicted in advance. When rockfall monitoring detects a target, it links deformation monitoring data to verify whether there is any abnormal deformation in the area in the early stage, and assists in the determination of the hazard level.

8. The detection method of the integrated radar monitoring system for deformed and rolling stones on highway slopes according to claim 7, characterized in that, In step S2, the time-division transceiver operation is specifically as follows: each time only one transmit channel and one receive channel are turned on to form a transceiver pair. After each transceiver pair completes the transmission and echo acquisition of N PRT signals, it switches to the next transceiver pair until all channels are combined and acquired.

9. The detection method of the integrated radar monitoring system for deformed and rolling stones on highway slopes according to claim 7, characterized in that, In step S5, the conditions for determining the rolling stone are: the target speed exceeds the minimum threshold for rolling stones, the trajectory conforms to the characteristics of falling or rolling, and the duration exceeds a preset value.

10. The detection method of the integrated radar monitoring system for deformed and rolling stones on highway slopes according to claim 7, characterized in that, In step S6, the rolling stone monitoring is a sudden emergency, and the processor allocates a higher computing hardware platform to it to ensure the response of the early warning; the deformation monitoring is based on complex algorithm processing and long-term monitoring mode, and is processed in the background software, so as not to affect the real-time performance of the rolling stone monitoring.

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