Vegetation and soil stability in-situ monitoring device and method for slope ecological restoration

Abstract

The invention relates to a vegetation and soil stability in-situ monitoring device and method for slope ecological restoration. The device comprises a track arranged on a side slope, a moving mechanism arranged on the track, a monitoring mechanism arranged on the moving mechanism and a tension providing mechanism arranged on the moving mechanism and used for providing ascending assistance for the moving mechanism. Wherein the tension providing mechanism comprises a container which is fixedly arranged on the moving mechanism and is used for storing light gas, a balloon communicated with the container, and an air pump which is arranged between the balloon and the container and is used for pumping the gas in the balloon to the container; upward auxiliary pulling force is provided through the buoyancy of the balloon, and energy consumption of the driving motor is reduced; and by combining solar power generation, wireless charging and downward kinetic energy recovery, a diversified energy supply system is constructed, and the field working time is greatly prolonged.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of slope engineering and ecological monitoring, and particularly relates to a vegetation and soil stability in-situ monitoring device and method for slope ecological restoration. BACKGROUND

[0002] In the field of slope engineering, especially in the ecological restoration of mines, highways, railways, etc., long-term and effective monitoring of the growth of restored vegetation and soil stability is crucial. Traditional monitoring methods rely heavily on regular manual patrols and fixed-point measurements, which have low efficiency, scattered data, high risk, and cannot achieve real-time early warning.

[0003] In recent years, some automated monitoring technologies have emerged, such as fixed sensor networks (such as soil moisture sensors, displacement meters, etc.) and monitoring heads. However, installing dozens of fixed cameras on a slope of hundreds of meters not only has a large initial construction cost, but also has a large maintenance cost, and is accompanied by a huge energy consumption problem.

[0004] Therefore, there is an urgent need for a slope ecological and stability in-situ monitoring device and method that can balance wide coverage, flexible movement, real-time visual verification, and long-term endurance. SUMMARY

[0005] The purpose of the present application is to provide a vegetation and soil stability in-situ monitoring device and method for slope ecological restoration to solve the problems raised in the background.

[0006] The present application achieves the above-mentioned purpose through the following technical solutions: A vegetation and soil stability in-situ monitoring device for slope ecological restoration, comprising a track on the slope, a moving mechanism on the track, a monitoring mechanism on the moving mechanism, and a tension providing mechanism on the moving mechanism for providing upward force to the moving mechanism; Wherein, the tension providing mechanism comprises a container for storing light gas fixed on the moving mechanism, a balloon in communication with the container, and a gas pump between the balloon and the container for pumping gas in the balloon to the container.

[0007] Preferably, the moving mechanism comprises a ring-shaped support body that fits on the track, a plurality of rollers in contact with the surface of the track inside the support body, a driving wheel inside the support body for driving the moving mechanism to move along the track, and a driving module on the support body for driving the driving wheel to rotate. Wherein, the driving module comprises a reducer fixedly installed on the support body and fixedly connected with the driving wheel, and a first driving motor fixedly connected with the reducer.

[0008] Preferably, the track is provided with anti-skid grooves along the length direction thereof; The driving wheel is provided with anti-skid teeth corresponding to the anti-skid grooves along the circumferential direction thereof.

[0009] Preferably, the monitoring mechanism comprises a sliding rail fixed on the support body, a sliding block movably mounted on the outer ring of the sliding rail, two second driving motors fixed on both ends of the sliding block, gears respectively arranged on the output shaft ends of the two second driving motors, and a camera fixed on the sliding block. The sliding rail is provided with tooth grooves corresponding to the gears along the circumferential direction thereof.

[0010] Preferably, a plurality of support plates for protecting the balloons are fixed on the container.

[0011] Preferably, a rotating shaft is rotatably mounted on the bottom of the support plate below the balloon through a support, and a driving wheel in contact with the track is fixedly sleeved on the rotating shaft. One bevel gear is fixedly sleeved on both ends of the rotating shaft. Two fan leaves are rotatably mounted on the support through connecting rods, and second bevel gears meshing with the first bevel gears are fixedly sleeved on the connecting rods, and the fan leaves drive the driving wheel to rotate relative to the track when the fan leaves rotate.

[0012] Preferably, a first rod is rotatably mounted on the bottom of the support plate below the balloon, and a transmission module is arranged between the first rod and the two connecting rods. A cleaning roller is fixedly sleeved on the first rod, and the cleaning roller is used for cleaning the anti-skid grooves on the track.

[0013] Preferably, the transmission module comprises a driving wheel fixedly sleeved on the two connecting rods, a driven wheel fixedly sleeved on the first rod, and a transmission belt arranged between the driving wheel and the driven wheel.

[0014] Preferably, the cleaning roller comprises a roller shaft and bristles on the surface of the roller shaft, the bristles comprise soft bristles and plastic bristles, and the plastic bristles are used for removing ice on the track.

[0015] A method for in-situ monitoring of vegetation and soil stability by using the in-situ monitoring device for vegetation and soil stability of the slope ecological restoration according to any one of the above-mentioned methods, comprising the following steps: S1: the two ends of the track are fixedly installed at the top and bottom of the slope respectively, the moving mechanism is clamped on the track, and the monitoring mechanism is used to monitor the slope; S2: when it is necessary to adjust the position of the monitoring device, the light gas in the container is pumped into the balloon by using the air pump, the balloon has a certain lifting force after inflation, the balloon pulls the moving mechanism and the monitoring mechanism to move upwards along the track, and the position of stopping is determined through the control of the moving mechanism. S3: the gas in the balloon is pumped back into the container by the air pump when moving downward, the moving mechanism moves downward along the track under the action of gravity, and the stopping position is determined by the control of the moving mechanism.

[0016] The present application has the advantages that: The present application provides upward auxiliary tension by using the balloon buoyancy, reduces the energy consumption of the driving motor, combines solar power generation, wireless charging and downward energy recovery, and constructs a diversified energy supply system, thereby greatly prolonging the field work time.

[0017] The present application can quickly respond to the alarm of the fixed sensor network, arrive at the specified position for visual verification, and overcome the shortcoming that the fixed sensor cannot transmit pictures; meanwhile, the present application can cover a large range of slope monitoring by one camera, especially for the slope with large height or long length, thereby reducing the arrangement cost, maintenance cost and energy consumption of the camera.

[0018] The present application designs the windproof support plate, the wind power auxiliary driving mechanism and the track self-cleaning mechanism, effectively deals with the severe weather and complex environment in the field, and ensures the long-term stable operation of the device. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic diagram of the overall structure of the present application; Figure 2 is a schematic diagram of the second perspective structure of the present application; Figure 3 is Figure 2 is an enlarged schematic diagram of position A in the present application; Figure 4 is a schematic diagram of the position relationship between the moving mechanism and the monitoring mechanism in the present application; Figure 5 is a schematic diagram of the position relationship between the moving mechanism and the cleaning roller in the present application.

[0020] In the figure: 1, track; 2, container; 3, balloon; 4, air pump; 5, support body; 6, roller; 7, driving wheel; 8, speed reducer; 9, No. 1 driving motor; 10, anti-skid groove; 11, anti-skid tooth; 12, slide rail; 13, sliding block; 14, No. 2 driving motor; 15, gear; 16, camera; 17, gear groove; 18, support plate; 19, shaft; 20, driving wheel; 21, No. 1 bevel gear; 22, fan blade; 23, No. 2 bevel gear; 24, No. 1 rod; 25, cleaning roller; 26, driving wheel; 27, driven wheel; 28, transmission belt; 29, brush. DETAILED DESCRIPTION

[0021] The present application will now be described in further detail. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0022] Example 1 like Figures 1-5 As shown, an in-situ monitoring device for vegetation and soil stability in slope ecological restoration includes a track 1 installed on the slope, a moving mechanism installed on the track 1, a monitoring mechanism installed on the moving mechanism, and a pulling force providing assistance to the moving mechanism for its upward movement. The layout shape of the track 1 can be designed according to the distribution requirements of the monitoring points, and can be S-shaped, V-shaped, or other shapes.

[0023] The tension-providing mechanism includes a container 2 fixed to the moving mechanism for storing light gas, a balloon 3 connected to the container 2, and an air pump 4 located between the balloon 3 and the container 2 to draw gas from the balloon 3 into the container 2. Increasing the vertical height difference H between the top of the track 1 and the slope surface results in a greater tension force exerted by the balloon 3 on the moving mechanism. The light gas can be hydrogen or helium. The container 2 and the balloon 3 are connected by a pipe, which contains a solenoid valve that allows gas to be forced into the balloon 3 using the gas pressure inside the container 2.

[0024] It should be noted that when there is no need to move the soil, soil moisture sensors, soil pore water pressure sensors, and soil hardness sensors distributed throughout the slope are used to monitor the overall soil physical and mechanical properties of the slope in real time. The monitoring agency can also monitor the vegetation and soil at one point in real time.

[0025] When a sensor (such as a soil moisture sensor) alarms, immediately move this monitoring device to the vicinity of the sensor and visually check through the camera 16 whether there is water seepage or whether the soil is wet and discolored.

[0026] Specifically, the principle of movement is as follows: Light gas from container 2 is introduced into balloon 3, causing balloon 3 to inflate. Because light gas is less dense than air, balloon 3 gains lift. On the inclined track 1, the lift of balloon 3 is decomposed into a tension force along track 1 (hereinafter referred to as tension) and a tension force perpendicular to track 1 (this tension force is balanced by the support force of track 1). This tension force acts on the moving mechanism, giving it an upward tendency to move. When this tension force is large, the moving mechanism can move at a constant speed along track 1, which can greatly reduce energy consumption and thus improve the endurance of this monitoring device.

[0027] When descending, the gas in the balloon 3 is pumped back into the container 2 by the air pump 4, the volume of the balloon 3 is reduced, and the moving mechanism can move downward along the track 1 under the action of gravity.

[0028] Preferably, the moving mechanism in the embodiment comprises a ring-shaped support body 5 sleeved on the track 1, a plurality of rollers 6 arranged in the support body 5 and in contact with the surface of the track 1, a driving wheel 267 arranged in the support body 5 for driving the moving mechanism to move along the track 1, and a driving module arranged on the support body 5 for driving the driving wheel 267 to rotate. The moving mechanism is also provided with a battery and a controller, etc., and the battery is used to power the driving module. Preferably, the driving module also has a function of energy recovery, which can realize reverse power generation when the moving mechanism moves downward, and store the electrical energy in the battery, further improving the endurance. The support body 5 and the track 1 are respectively provided with magnetic members, which are used to fine-tune the relative position of the support body 5 and the track 1 when the moving mechanism moves to the original position or a designated position, so as to ensure the accuracy of the in-situ monitoring. The magnetic members can be electromagnets. When the heads of the two electromagnets attract each other, the positions of the two can be limited. The support body 5 is also provided with a solar power generation module (prior art), which is used to power the battery. The track 1 is provided with charging devices along the way, which can wirelessly charge the battery.

[0029] Preferably, the driving wheel 267 is also provided with a brake module (prior art), which can actively stop when moving downward.

[0030] The rollers 6 are in contact with the left and right side surfaces and the lower bottom surface of the track 1, the rollers 6 and the driving wheel 267 are distributed on the four surfaces of the track 1, the support body 5 is not in contact with the track 1, and the moving mechanism only receives rolling friction during actual movement.

[0031] The driving module comprises a speed reducer 8 fixedly installed on the support body 5 and fixedly connected with the driving wheel 267, and a first driving motor 9 fixedly connected with the speed reducer 8. Preferably, the track 1 is provided with a plurality of anti-skid grooves 10 along the length direction thereof, and the driving wheel 267 is provided with a plurality of anti-skid teeth 11 corresponding to the anti-skid grooves 10 along the circumferential direction thereof.

[0032] In the embodiment, the first driving motor 9 and the speed reducer 8 drive the driving wheel 267 to rotate, and the anti-skid teeth 11 on the driving wheel 267 drive the support body 5 to rotate relative to the anti-skid grooves 10.

[0033] Preferably, the monitoring mechanism in the embodiment comprises a sliding rail 12 fixedly arranged on the support body 5, a sliding block 13 movably installed on the outer circle of the sliding rail 12, two second driving motors 14 fixedly installed at both ends of the sliding block 13, a gear 15 arranged at the output shaft end of each of the two second driving motors 14, and a camera 16 fixedly arranged on the sliding block 13.

[0034] Wherein, the slide rail 12 is provided with a plurality of tooth grooves 17 corresponding to the gear 15 along the circumference thereof.

[0035] It should be noted that, due to the longer track 1, the middle part of the track 1 still needs to be supported at the bottom to prevent the track 1 from deforming. The cross section of the track 1 is designed as an inverted convex letter, and the slide rail 12 is a C-shaped opening downward. The C-shaped opening of the slide rail 12 is designed to be able to span the support at the bottom of the track 1, avoiding motion interference.

[0036] The camera 16 itself can automatically rotate up, down, left and right during use, so as to be able to observe the vegetation and soil in a larger range. When the second driving motor 14 drives the gear 15 to rotate, the slider 13 moves relative to the slide rail 12, so that the position of the camera 16 changes, and the camera 16 can observe the vegetation and soil at the bottom of the moving mechanism at close range. The camera 16 is in communication connection with the outside world, and the picture is transmitted in real time. In order to save power, the camera 16 can be put into hibernation at regular intervals or started only when needed.

[0037] Embodiment 2 Further, the container 2 is fixedly provided with a plurality of support plates 18 for protecting the balloon 3.

[0038] It should be noted that, on the one hand, the support plate 18 can limit the position of the balloon 3, so as to prevent the balloon 3 from being rolled into the moving mechanism after deflating and causing damage to the balloon 3 and the moving mechanism.

[0039] On the other hand, in the case of strong wind, the support plate 18 can protect the balloon 3, avoid the connection point between the balloon 3 and the container 2 from being damaged due to the large shaking of the balloon 3 under the action of wind, and ensure the long-term use of the balloon 3.

[0040] Further, the bottom of the support plate 18 located below the balloon 3 is rotatably installed with a rotating shaft 19 through a support, and a driving wheel 20 in contact with the track 1 is fixedly sleeved on the rotating shaft 19. Preferably, the driving wheel 20 can adopt a rubber wheel, which has good contact with the track 1 and has large friction.

[0041] The two ends of the rotating shaft 19 are fixedly sleeved with a first bevel gear 2115.

[0042] The support is rotatably installed with two fan leaves 22 through a connecting rod, and a second bevel gear 2315 meshing with the first bevel gear 2115 is fixedly sleeved on the connecting rod. The fan leaves 22 are also fixedly connected with the connecting rod, and the fan leaves 22 drive the driving wheel 20 to rotate relative to the track 1 when rotating.

[0043] It should be noted that when there is a large wind in the environment, and the wind direction is opposite to the moving direction of the moving mechanism, the balloon 3 has a large volume and thus has a large wind resistance. In the embodiment, the fan blade 22 is arranged in front of the moving direction. When the strong wind acts on the fan blade 22, the fan blade 22 rotates, and the connecting rod and the second bevel gear 2315 rotate. The second bevel gear 2315 drives the first bevel gear 2115 to rotate, so that the rotating shaft 19 and the driving wheel 20 rotate. The driving wheel 20 generates a certain pulling force on the support plate 18 and the moving mechanism through the friction between the driving wheel 20 and the track 1, so as to offset the wind resistance to a certain extent, and cooperate with the power of the moving mechanism itself, so that the device can normally ascend. The device can also normally descend when encountering strong wind during descending.

[0044] When the wind is not enough to drive the fan blade 22 to rotate, the driving wheel 20 has a certain static friction relative to the track 1, so as to offset the wind resistance when the wind is not enough.

[0045] Preferably, a clutch device is arranged between the rotating shaft 19 and the first bevel gear 2115, so that the rotating shaft 19 can idle in the windless state, and the problem that the first bevel gear 2115 and the second bevel gear 2315 are forced to rotate is avoided, and the resistance received by the driving wheel 20 during movement is reduced.

[0046] Embodiment 3 Further, the support plate 18 arranged below the balloon 3 is rotatably installed with a first rod 24, and a transmission module is arranged between the first rod 24 and the two connecting rods.

[0047] The first rod 24 is fixedly sleeved with a cleaning roller 25, and the cleaning roller 25 is used for cleaning the anti-skid groove 10 on the track 1.

[0048] Preferably, the transmission module includes a driving wheel 267 fixedly sleeved on the two connecting rods, a driven wheel 27 fixedly sleeved on the first rod 24, and a transmission belt 28 arranged between the driving wheel 267 and the driven wheel 27. Preferably, the transmission belt 28 can be a chain, and the driving wheel 267 and the driven wheel 27 can be sprockets, and the transmission is reliable.

[0049] It should be noted that in an outdoor environment, mud and other sundries may enter the anti-skid groove 10, and if hard objects enter the anti-skid groove 10, the anti-skid teeth 11 may be stuck and cannot pass through, which not only affects the normal movement of the device, but also easily causes damage to the anti-skid teeth 11.

[0050] In this embodiment, a cleaning roller 25 is added. During the rotation of the fan blade 22, the connecting rod is driven to rotate. The connecting rod drives the driven wheel 27 to rotate through the transmission belt 28, causing the first rod 24 and the cleaning roller 25 to rotate. The cleaning roller 25 can clean the debris in the anti-slip groove 10, so that the anti-slip teeth 11 can enter the anti-slip groove 10 normally.

[0051] Furthermore, the cleaning roller 25 includes a roller shaft and bristles 29 located on the surface of the roller shaft. The bristles 29 include soft bristles 29 and plastic bristles 29. The soft bristles 29 can clean up debris, and the plastic bristles 29 collide with the track 1 when in contact, which can remove ice on the track 1. Combined with the soft bristles 29, the broken ice is removed, so that the device can still be used normally in winter.

[0052] Example 4 An in-situ monitoring method for vegetation and soil stability in slope ecological restoration includes the following steps: S1: Fix both ends of the track to the top and bottom of the slope respectively, lock the moving mechanism on the track, and use the monitoring mechanism to monitor the slope.

[0053] S2: When it is necessary to adjust the position of the monitoring device, the air pump is used to draw light gas from the container into the balloon. After the balloon expands, it has a certain lift force. The balloon pulls the moving mechanism and the monitoring mechanism to move upward along the track. The stopping position is determined by controlling the moving mechanism.

[0054] S3: When moving downwards, the air pump draws the gas inside the balloon back into the container. The moving mechanism moves downwards along the track under the action of gravity. The stopping position is determined by controlling the moving mechanism.

[0055] The embodiments described above are merely examples of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention.

Claims

1. A device for in-situ monitoring of vegetation and soil stability for ecological restoration of slopes, characterized in that, The utility model provides a kind of slope monitoring device, including track (1) being arranged on slope, mobile mechanism being arranged on track (1), monitoring mechanism being arranged on mobile mechanism and tension providing mechanism being arranged on mobile mechanism for providing ascending aid for mobile mechanism; Wherein, tension providing mechanism includes fixedly arranged on mobile mechanism for storing light gas container (2), balloon (3) being communicated with container (2) and air pump (4) being arranged between balloon (3) and container (2) for extracting gas in balloon (3) to container (2). 2.The vegetation and soil stability in-situ monitoring device for ecological restoration of slope according to claim 1, characterized in that, The mobile mechanism includes a ring-shaped support body (5) that fits over the track (1), a plurality of rollers (6) that contact the surface of the track (1) arranged in the support body (5), a driving wheel (26) (7) arranged in the support body (5) for driving the mobile mechanism to move along the track (1), and a drive module arranged on the support body (5) for driving the driving wheel (26) (7) to rotate. The drive module includes a reducer (8) fixedly installed on the support body (5) and fixedly connected with the driving wheel (26) (7), and a first driving motor (9) fixedly connected with the reducer (8). 3.The vegetation and soil stability in-situ monitoring device for slope ecological restoration according to claim 2, characterized in that, The track (1) is provided with a plurality of anti-skid grooves (10) along the length direction thereof. The driving wheel (26) (7) is provided with a plurality of anti-skid teeth (11) corresponding to the anti-skid grooves (10) along the circumferential direction thereof.

4. The vegetation and soil stability in-situ monitoring device for slope ecological restoration according to claim 3, characterized in that, The monitoring mechanism includes a slide rail (12) fixedly arranged on the support body (5), a sliding block (13) movably installed on the outer ring of the slide rail (12), two second driving motors (14) fixedly installed at both ends of the sliding block (13), a gear (15) arranged at the output shaft end of each of the two second driving motors (14), and a camera (16) fixedly arranged on the sliding block (13). The slide rail (12) is provided with a plurality of tooth grooves (17) corresponding to the gears (15) along the circumferential direction thereof.

5. The vegetation and soil stability in-situ monitoring device for ecological restoration of slope according to claim 4, characterized in that, A plurality of support plates (18) for protecting the balloon (3) are fixedly arranged on the container (2). 6.The vegetation and soil stability in-situ monitoring device for ecological restoration of slope according to claim 5, characterized in that, The bottom of the support plate (18) located below the balloon (3) is rotatably installed with a rotating shaft (19) through a support, and a driving wheel (20) in contact with the track (1) is fixedly sleeved on the rotating shaft (19). One-way bevel gears (21) (15) are fixedly sleeved on both ends of the rotating shaft (19). Two fan blades (22) are rotatably installed on the support through connecting rods, and second bevel gears (23) (15) meshing with the one-way bevel gears (21) (15) are fixedly sleeved on the connecting rods, and the fan blades (22) drive the driving wheel (20) to rotate relative to the track (1) when rotating. 7.The vegetation and soil stability in-situ monitoring device for ecological restoration of slope according to claim 6, characterized in that, A first rod (24) is rotatably installed on the bottom of the support plate (18) located below the balloon (3), and a transmission module is arranged between the first rod (24) and the two connecting rods. A cleaning roller (25) is fixedly sleeved on the first rod (24), and the cleaning roller (25) is used for cleaning the anti-skid grooves (10) on the track (1). 8.The vegetation and soil stability in-situ monitoring device for ecological restoration of slope according to claim 7, characterized in that, The transmission module comprises a driving wheel (26) (7) fixedly sleeved on the two connecting rods, a driven wheel (27) fixedly sleeved on the first rod (24), and a transmission belt (28) arranged between the driving wheel (26) (7) and the driven wheel (27). 9.The vegetation and soil stability in-situ monitoring device for ecological restoration of slope according to claim 7, characterized in that, The cleaning roller (25) comprises a roller shaft and brush hairs (29) on the surface of the roller shaft, wherein the brush hairs (29) comprise soft brush hairs (29) and plastic brush hairs (29), and the plastic brush hairs (29) are used for removing ice on the track (1).

10. A method for in-situ monitoring of vegetation and soil stability using the in-situ monitoring device for vegetation and soil stability for slope ecological restoration according to any one of claims 1-9, characterized in that, The method comprises the following steps: S1: fixing and installing the two ends of the track (1) at the top and bottom of the slope respectively, clamping the moving mechanism on the track (1), and monitoring the slope by using the monitoring mechanism; S2: when it is necessary to adjust the position of the monitoring device, the light gas in the container (2) is pumped into the balloon (3) by using the air pump (4), the balloon (3) has a certain lifting force after being inflated, the balloon (3) pulls the moving mechanism and the monitoring mechanism to move upwards along the track (1), and the stopping position is determined by controlling the moving mechanism; S3: when moving downwards, the gas in the balloon (3) is pumped back into the container (2) by using the air pump (4), the moving mechanism moves downwards along the track (1) under the action of gravity, and the stopping position is determined by controlling the moving mechanism.

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