Horizontal displacement on-way distribution detector for concrete dam advancing along positive and negative vertical lines

Abstract

The invention discloses a horizontal displacement on-way distribution detector for a concrete dam advancing along a positive and negative vertical line, and relates to a concrete dam structure detection technology, in particular to the horizontal displacement on-way distribution detector for the concrete dam advancing along the positive and negative vertical line. The detector is composed of a crawling device, a distance measuring device, an image acquisition device, a digital compass and attitude sensor module, a communication module, a data storage module, a power supply module and a control module. According to the method, the precision and efficiency of the concrete dam vertical line system in the aspects of structural displacement monitoring, abnormal diagnosis and data visualization analysis are greatly improved, a high-resolution and traceable technical means is provided for long-term safety monitoring and abnormal deformation diagnosis of the concrete dam, and the method has good engineering applicability and popularization value.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of concrete dam structure detection, and in particular to a concrete dam horizontal displacement along-path distribution detector running along a normal and inverted plumb line. BACKGROUND

[0002] As an important hydraulic structure, the operation safety of a concrete dam is directly related to the flood control of a river basin, water resource allocation, and the safety of people's lives and property downstream. The horizontal displacement of a dam body is one of the important indicators reflecting the deformation and operation state of the dam body structure. In current engineering practice, normal and inverted plumb line monitoring systems are widely used to observe the horizontal displacement of the dam body for a long time. The plumb line system usually suspends a steel wire in a pre-buried plumb line hole in the dam body, and cooperates with observation devices (such as optical reading instruments, projectors, etc.) at different elevation positions to obtain the lateral offset of the steel wire relative to the hole wall, so as to infer the horizontal deformation of the dam body with time or external load changes.

[0003] However, the existing plumb line monitoring technology has the following technical limitations in practical application:

[0004] (1) The observation points are sparsely arranged, and it is difficult to obtain continuous deformation information along the plumb line. The traditional plumb line system usually only arranges observation rooms at several elevations with a distance of tens of meters, such as the dam top, the vicinity of the foundation surface, the middle elevation, and the like. This point-shaped observation method is difficult to reflect the complete distribution characteristics of the deformation of the dam body or the dam foundation in the vertical direction, especially in the event of sudden events such as earthquakes or slippage, it is difficult to accurately identify the section where the deformation is concentrated, and there is a lack of accurate deformation distribution information.

[0005] (2) It is impossible to directly visually inspect the internal structure state of the plumb line hole. With the increase of the operation period, there may be problems such as hole wall erosion, foreign matter deposition, steel wire corrosion or jamming in the plumb line hole. The traditional system lacks effective means to obtain hole wall image information and identify and locate these potential faults. Once the plumb line monitoring value is abnormal, it is often difficult to find out the cause and take corresponding measures in time.

[0006] (3) There is great uncertainty in the interpretation of the traditional plumb line monitoring results under the action of extreme loads such as earthquakes. In some engineering earthquake examples, although the displacement of the dam body measured by the plumb line is significant, due to the lack of continuous measurement data along the plumb line direction, it is impossible to judge whether the deformation is concentrated near the foundation surface or in the deep part of the dam foundation, which seriously affects the scientificity of the post-earthquake structure health assessment and emergency response deployment.

[0007] (4) It is impossible to realize multi-period comparison and diagnosis, and the traditional plumb line observation can usually only obtain a single measurement result, lacks the corresponding relationship of historical data at the same elevation, and is difficult to realize multi-period comparison and analysis of the deformation of the dam body, thereby limiting the ability of long-term health monitoring and abnormal trend identification. SUMMARY

[0008] The purpose of this invention is to provide a horizontal displacement distribution detector for concrete dams that travels along a vertical line, thereby solving the technical problems of existing vertical line observation methods, such as low measurement accuracy, sparse distribution of measuring points, inability to visualize the internal condition of the vertical line hole, and inability to achieve multi-time period comparison diagnosis.

[0009] A horizontal displacement distribution detector for a concrete dam that travels along a vertical line is characterized in that the detector consists of a crawling device, a distance measuring device, an image acquisition device, a digital compass and attitude sensor module, a communication module, a data storage module, a power supply module and a control module.

[0010] The crawling device is used to crawl along the vertical line and rotate 360° at a preset angle step distance to realize the measurement of the distance from the instrument to the hole wall at a specific elevation.

[0011] The distance measuring device measures distance along the circumference of the hole wall and performs closed-loop control in conjunction with feedback signals from the attitude sensor.

[0012] The image acquisition device is used to simultaneously acquire visual image information of the inner wall of the vertical hole at each ranging position;

[0013] The digital compass and attitude sensor module, combined with a three-axis magnetometer, a three-axis accelerometer and a three-axis gyroscope, constitute a nine-axis attitude calculation system for real-time acquisition of the heading angle, pitch angle and roll angle attitude information of the detector;

[0014] The communication module is used to enable data interaction and remote control with external terminals;

[0015] The data storage module is used to record ranging data, image data, attitude data and positioning data in real time;

[0016] The power module provides independent power to each device and system of the detector;

[0017] The control module is used to coordinate and control the operation of various devices and systems in the testing instrument.

[0018] A method for using a horizontal displacement distribution detector for a concrete dam that travels along a vertical line includes the following steps:

[0019] S1, Installation and initialization of the detection equipment, setting observation points;

[0020] S2, start the crawling device, the device crawls down the vertical line to check the upright and inverted holes;

[0021] S3, arrive at the observation point, collect data, including attitude acquisition, distance measurement, image acquisition, and anomaly detection of the collected data;

[0022] If there are no abnormalities in the data, the corresponding data will be uploaded for real-time dissemination.

[0023] If there are any abnormalities in the data, the abnormal situation will be recorded on video and the corresponding data will be uploaded and disseminated in real time.

[0024] S4. Determine whether all the set observation points have been detected. If not, return to step S2 to continue; if completed, proceed to step S5.

[0025] S5. After the detection is completed, the data is transmitted to an external terminal through the communication module, and the data is compared and analyzed to generate a displacement profile diagram. Then, conclusions and maintenance strategies are proposed.

[0026] For critical projects, regular measurements are conducted based on the monitoring frequency of the existing plumb line system. For general projects, two working modes are set up: initial diagnosis and secondary diagnosis. When the plumb line system and its monitoring values ​​are normal, the instrument of this invention is used to obtain benchmark measurement values. When the plumb line monitoring results are abnormal, the instrument is used for re-measurement. By comparing the two sets of data, the horizontal displacement change of the plumb line relative to the dry suspension point at each elevation is calculated to obtain the deformation distribution of the dam body or dam foundation along the plumb line direction.

[0027] This invention's detector comprises a crawling device, a rotatable laser rangefinder, a digital compass and attitude sensor module, an image acquisition and illumination module, a power supply module, a data storage module, and a control and communication module. Based on theories such as laser triangulation, attitude solution algorithms, fixed-point image acquisition, data fusion, and wireless communication and remote interaction, it effectively identifies the specific elevation of horizontal displacement of the dam body and identifies foreign object information within the vertical borehole. This invention enables automated, high-precision, and multi-dimensional information measurement within the vertical borehole, breaking through the limitations of traditional detection technologies with sparse measuring points and fixed directions. It achieves continuous, directional, and visual measurement across the entire borehole section, improving the ability to identify dam body and foundation deformation and providing higher resolution and more reliable spatial data support for concrete dam deformation monitoring.

[0028] This invention's detector can autonomously climb up and down along a vertical steel wire and perform high-precision distance measurements of the surrounding borehole walls at designated measuring points, thus determining the position of the vertical line relative to the borehole wall. During the measurement process, the device calculates its own three-dimensional attitude in real time, using a quaternion algorithm to maintain a constant ranging direction. A laser ranging module accurately acquires the radial distance from the detector to the borehole wall in various directions, calculating the relative position of the vertical line within the borehole. Simultaneously, it acquires images of the borehole wall and records attitude angle information. This enables the acquisition of horizontal deformation information along the vertical borehole and visualization of the borehole's internal structural condition, ultimately constructing a complete horizontal displacement profile. Through differential analysis of the initial and secondary diagnostic data, the horizontal displacement distribution of the dam body or foundation along the vertical direction can be obtained, achieving accurate identification of deformed sections.

[0029] Compared with traditional methods of observing perpendicular lines, this invention has several significant advantages:

[0030] (1) High measurement accuracy. After system calibration and attitude compensation, the distance measurement accuracy can be achieved to no more than 0.1 mm, thus enabling the acquisition of high-resolution spatial distance data of the vertical line relative to the hole wall.

[0031] (2) The density of measuring points is large. The detector performs a test every 50cm, which breaks the limitation of traditional observation methods that only obtain measurement values ​​at individual observation elevations, and realizes dense measurement along the vertical channel.

[0032] (3) Precise direction control: With the help of attitude calculation and controllable rotation structure, the ranging direction is always consistent with the set orientation, ensuring data comparability and stability.

[0033] (4) Hole wall visualization recognition, with image acquisition capability, can intuitively identify problems such as hole wall erosion, foreign object blockage, and abnormal deformation, which facilitates fault location and cause judgment;

[0034] (5) The system has strong autonomous operation capability, supports local data storage and wireless communication, and is suitable for unmanned measurement tasks in complex dam environments;

[0035] (6) Multi-time period comparison diagnosis: By automatically comparing the initial and secondary measurement data, the horizontal displacement distribution of the dam body along the vertical direction can be obtained.

[0036] This invention significantly improves the accuracy and efficiency of concrete dam vertical line systems in structural displacement monitoring, anomaly diagnosis, and data visualization analysis. It provides high-resolution and traceable technical means for long-term safety monitoring and abnormal deformation diagnosis of concrete dams, and has good engineering applicability and promotion value. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the overall structure of the crawling device in Example 1.

[0038] Figure 2 This is a schematic diagram of the main frame structure of the crawling device in Embodiment 1. Figure One .

[0039] Figure 3 This is a schematic diagram of the main frame structure of the crawling device in Embodiment 1. Figure Two .

[0040] Figure 4 This is a schematic diagram of the crawling device in Example 1, showing the driving wheel and driven wheel clamping the vertical steel wire.

[0041] Figure 5 This is a schematic diagram of the gear ring structure inside the equipment compartment of the crawling device in Embodiment 1.

[0042] Figure 6 This is a schematic diagram of the crawling device used in Example 1.

[0043] Figure 7 A simplified diagram for calculating the horizontal displacement along the vertical shaft of a concrete dam.

[0044] Figure 8 This is a flowchart illustrating the workflow of a horizontal displacement detector along the vertical shaft of a concrete dam. Detailed Implementation

[0045] The present invention will now be described in further detail through specific embodiments. However, this should not be construed as limiting the scope of the above-described subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0046] Example 1: After a major earthquake, monitoring by a plumb line system showed that a concrete dam foundation had shifted due to the earthquake. Traditional plumb line detection methods detected horizontal displacement in the dam body, but because the specific elevation of the displacement could not be determined, it was difficult to judge the depth and location of the deformation. To ensure subsequent engineering maintenance and safety, it was necessary to accurately determine the horizontal displacement at each elevation of the dam. Therefore, the automatic plumb line borehole detection instrument of this invention, which travels along the plumb line, was used to perform high-precision detection on plumb lines with a depth of 50m and a diameter of 100mm.

[0047] The horizontal displacement distribution detector for concrete dams that travels along the vertical line used in this embodiment consists of a crawling device, a distance measuring device, an image acquisition device, a digital compass and attitude sensor module, a communication module, a data storage module, a power supply module, and a control module.

[0048] The specific descriptions of the devices and modules in this embodiment are as follows:

[0049] Crawling device:

[0050] As attached Figures 1-6 As shown, the device includes a main frame, a crawling mechanism, and a rotating mechanism;

[0051] The main frame is formed by a circular base plate 1, two symmetrically arranged connecting pillars 2, and a circular top plate 3. A rotating track 301 is opened above the top plate 3 to install the equipment compartment 4. A vertical guide hole 401 is opened through the center of the top of the equipment compartment 4 and the center of the main frame for passing through the vertical steel wire 18.

[0052] The crawling mechanism includes a pair of driving wheels 5 and a pair of driven wheels 7. Both driving wheels 5 and driven wheels 7 are rubber wheels and are arranged circumferentially symmetrically around the vertical guide hole 401. Of the two traveling motors 6, the first traveling motor 6 is directly fixedly mounted on the base plate 1; the second traveling motor 6 is mounted in the mounting groove 101 opened in the base plate 1 and can be adjusted in position along the mounting groove 101. After adjustment, it is locked with bolts. The output shafts of the two traveling motors 6 are respectively connected to the corresponding driving wheels 5 through couplings. Of the pair of driven wheels 7, one is fixedly mounted to the bottom of the top plate 3 through a wheel frame 8, and the other is mounted in a radial groove opened at the bottom of the top plate 3 through a wheel frame 8. The wheel frame 8 in the radial groove is threadedly connected to an adjusting screw 9. The outer end of the adjusting screw 9 can be equipped with a handwheel to drive the wheel frame 8 to slide in the groove. By adjusting the position of the movable traveling motor 6 and the movable driven wheel 7, the clamping and loosening of the two sets of wheelsets vertical steel wires 18 can be achieved.

[0053] The rotating mechanism includes a rotary motor 10 fixed on the top plate 3; the output shaft of the rotary motor 10 is connected to a drive gear 11, which meshes with an internal gear ring 12 on the inner wall of the equipment compartment 4; starting the rotary motor 10 drives the entire equipment compartment 4 to rotate. A camera 14 and a laser rangefinder 15 are installed on the side wall of the equipment compartment 4. A ring LED light 13 is embedded around the lens of the camera 14 for illumination inside the hole;

[0054] The drive motor 6, rotary motor 10, camera 14, laser rangefinder 15, and ring LED light 13 are all powered by a power module integrated inside the equipment compartment 4. The equipment compartment 4 also integrates a control module.

[0055] Both the base plate 1 and the top plate 3 have corresponding fan-shaped through holes 302 to facilitate internal wiring. A protective cover is provided around the main frame. The protective cover is divided into two parts: one half is a fixed cover 16, which is fixed between the base plate 1 and the top plate 3 and is located on the opposite side of the fan-shaped through holes 302; the other half is a movable cover 17, whose bottom cooperates with the arc-shaped guide rail 102 on the base plate 1 and can be slid open along the guide rail to facilitate the inspection and maintenance of the internal mechanism, battery pack and circuit.

[0056] When this device is in operation, the detector is placed inside the vertical borehole 19 of the dam body. The vertical steel wire 18 passes through the vertical guide hole 401. By adjusting the position of the movable travel motor 6 and turning the adjusting screw 9, the movable driven wheel 7 is driven, so that the driving wheel 5 and the driven wheel 7 clamp the steel wire together. The travel motor 6 is controlled to rotate synchronously forward or backward, driving the entire detector to climb or descend along the steel wire. When it stops at a certain elevation, the rotary motor 10 is started, driving the equipment cabin 4 and its camera 14 and laser rangefinder 15 to rotate, performing 360-degree continuous image capture and distance measurement on the surrounding borehole wall. By controlling the coordination of crawling and rotation, continuous scanning and measurement of the entire inner wall of the vertical borehole can be achieved.

[0057] Distance measuring device:

[0058] The distance measuring device is a rotatable laser rangefinder. The control module drives the motor to rotate 360° in preset steps, which allows for fine-tuning of the laser rangefinder's direction. It can measure distances along the hole wall in one circumference and uses feedback signals from the attitude sensor for closed-loop control to maintain the stability of the distance measurement direction.

[0059] The rotatable laser rangefinder is mounted on the side of the housing and is used to measure the radial distance from the instrument to the inner wall of the vertical hole at a specified elevation. The laser ranging module uses laser triangulation, which involves emitting a laser beam to the surface of the hole wall and simultaneously using a camera sensor to receive the reflected image. The distance is calculated using the baseline length and the included angle, making it suitable for small-area, high-precision measurements.

[0060] The distance calculation formula is as follows:

[0061] ;

[0062] In the formula, This is the distance between the measuring instrument and the inner wall of the vertical hole. The baseline distance from the laser emitter to the image sensor. The laser emission angle, The angle between the incident light and the image sensor.

[0063] Image acquisition device:

[0064] Image acquisition includes a camera and a ring-shaped LED lighting device, which are used to simultaneously acquire visual image information of the inner wall of the vertical borehole at each ranging position to help identify abnormalities such as borehole wall erosion, foreign objects in the borehole, and deformation.

[0065] The camera employs a small, low-power CMOS image sensor module, based on the photoelectric conversion principle, to convert external light signals into digital image data, enabling continuous imaging in narrow apertures. Since there is no natural light source inside the vertical aperture, high-brightness LED illumination is required to surround the camera to ensure clear image details. The imaging width can be estimated by controlling the geometric relationship between the field of view and the distance from the camera to the aperture wall.

[0066] The formula for calculating the width is:

[0067] ;

[0068] In the formula, For the imaging width, The distance between the camera and the hole wall. The field of view is the angle of view.

[0069] Digital compass and attitude sensor module:

[0070] A digital compass and attitude sensor module, combined with a three-axis magnetometer, a three-axis accelerometer, and a three-axis gyroscope, constitute a nine-axis attitude calculation system for real-time acquisition of attitude information such as heading, pitch, and roll angles of the detector. Attitude compensation is performed on the laser ranging direction to ensure ranging accuracy of 0.1 mm.

[0071] This module periodically corrects gyroscope drift using accelerometers and automatically ignores or reduces the weight of magnetometer data when magnetic interference is detected. This ensures that the laser ranging direction always points around the inner wall of the vertical hole in complex electromagnetic environments such as dam reinforcement, thereby improving spatial measurement accuracy and directional consistency. Since the detector travels along the vertical line, its attitude is basically always horizontal.

[0072] The attitude calculation formula is:

[0073] ;

[0074] ;

[0075] ;

[0076] ;

[0077] ;

[0078] ;

[0079] In the formula, The pitch angle, For roll angle, For heading angle, , , The accelerometers are respectively at Output in three directions, , These represent the X and Y components of the Earth's magnetic field on the horizontal plane. , , These are the changes in pitch angle, roll angle, and yaw angle, respectively. , , To measure the delay per unit time of the gyroscope Angular velocity in three directions.

[0080] Combined with attitude angles ( , , The sensor's fixed coordinate system, along with the distance measurement direction, allows the distance measurement direction vector to be... Convert to the actual direction in the geographic coordinate system by using a direction cosine matrix or quaternion rotation:

[0081] , , · ;

[0082] In the formula, The transformed distance measurement direction. Let Euler angles be the rotation matrix. This is the distance measurement direction vector.

[0083] Communication module:

[0084] The communication module is electrically connected to the control module to enable data interaction and remote control with external terminals.

[0085] The communication module supports wireless communication and can be used to receive remote measurement and control commands, sampling configuration parameters, and send attitude data, ranging data, and image data to external terminals or servers. It also supports local breakpoint caching and remote automatic recovery functions. When communication is interrupted, it automatically caches measurement data locally and automatically uploads any missing information in timestamp order after communication is restored, ensuring data integrity and traceability.

[0086] Data storage module uses:

[0087] The data storage module is used to record laser ranging data, image data, attitude data, and positioning data locally or remotely in real time. It supports timestamp recording and breakpoint resume functionality to ensure the integrity and traceability of measurement data. The data storage module also supports exporting measurement data via USB interface or wireless communication module, enabling offline management and external analysis of device data.

[0088] Power module:

[0089] The power module includes multiple rechargeable lithium battery packs and voltage regulation management circuits, which provide independent power for various subsystems such as ranging, attitude, lighting, imaging, and data storage when no external power supply is available. It also provides stable power for the crawling mechanism drive motor and the micro motor of the rotating mechanism, ensuring the continuous operation of the detector as it moves up and down in the vertical hole and the rotating mechanism swings.

[0090] The power module also includes a power detection circuit and over-discharge protection function, which are used to monitor the real-time remaining power and prevent the battery from being damaged due to excessive discharge during operation. It can also dynamically allocate power according to load demand to ensure the coordinated and stable operation of each subsystem and actuator.

[0091] Control module:

[0092] The control module is used to coordinate and control the operation of various subsystems such as laser ranging, attitude calculation, camera, lighting, rotating mechanism and data storage, so as to realize segmented stopping along the process, directional scanning, synchronous data storage and wireless transmission.

[0093] The working logic of the control module is as follows: attitude determination → fixed-point ranging → full-circle scanning → image acquisition → abnormal recording → data upload.

[0094] The specific working process of the detector of this invention is as follows:

[0095] (1) Equipment installation

[0096] Install the measuring instrument onto the vertical steel wire via the vertical guide groove, and ensure that the equipment can move freely up and down along the steel wire, ready to begin the measurement work.

[0097] (2) Device activation and initialization

[0098] Turn on the device power and start the control module. The system will first perform a self-test to ensure that all sensors (laser rangefinder module, attitude sensor, camera, etc.) are working properly.

[0099] The control module adjusts the device's posture based on sensor feedback to ensure that the rotatable laser ranging module can rotate and measure distances along the circumference of the hole wall.

[0100] (3) Measurement start-up and data acquisition

[0101] The crawling device is activated, and the equipment begins to move automatically along the steel wire. An observation point is set every 50cm. When the equipment moves to an observation point, the control module drives the rotatable laser ranging module to perform laser ranging around 360°, acquiring measurement data of the distance between the detector and the hole wall. The ranging direction is then corrected by an attitude sensor to ensure data accuracy.

[0102] The camera simultaneously begins acquiring images of the inner wall of the vertical hole at the observation point to help identify any foreign objects or deformations that may exist inside the hole.

[0103] (4) Acquisition of three-dimensional deformation information

[0104] As the equipment moves along the vertical steel wire, the laser ranging module acquires the radial distance data of each measuring point around the borehole wall. Simultaneously, combined with the equipment's attitude data, the control module calculates the spatial position of each measuring point relative to the borehole wall.

[0105] (5) Anomaly detection and image analysis

[0106] The image information captured by the camera at each measurement point is uploaded to the data storage module in real time. The images are processed by a preset analysis algorithm to automatically identify potential borehole wall anomalies (such as cracks, foreign objects, or borehole wall erosion).

[0107] Based on the image analysis results and combined with laser ranging data, the control module generates a deformation profile and marks abnormal areas to help locate potential fault points.

[0108] (6) Data storage and remote transmission

[0109] Measurement data and image information are stored in the device's internal storage module via the control module. The communication module can wirelessly transmit data to an external server in real time during the measurement process.

[0110] When a device experiences a communication interruption, the system will automatically cache the data and upload the missing information only after communication is restored, ensuring the integrity and traceability of the data.

[0111] (7) Measurement completion and result analysis

[0112] After the measurement was completed, all data was transmitted to an external terminal for further analysis. Data obtained from the laser rangefinder was used to generate a deformation profile along the vertical borehole, which was compared with the previous measurement results. Combined with images from inside the borehole, the dam displacement, location, and possible causes were accurately identified.

[0113] If the measuring instrument performs a 360° measurement around the borehole wall at a measuring point 600cm from the starting point, the solid line in the figure is the vertical borehole wall profile at the same elevation during the last measurement, and the dashed line is the vertical borehole wall profile at the same elevation during this inspection. It can be observed that the borehole wall has undergone significant deformation, with the left side exhibiting the largest deformation, approximately 1.2cm.

Claims

1. A device for detecting the horizontal displacement distribution along a vertical line in a concrete dam, characterized in that... The detector consists of a crawling device, a distance measuring device, an image acquisition device, a digital compass and attitude sensor module, a communication module, a data storage module, a power supply module, and a control module. The crawling device is used to crawl along the vertical line and rotate 360° at a preset angle step distance to realize the measurement of the distance from the instrument to the hole wall at a specific elevation. The distance measuring device measures distance along the circumference of the hole wall and performs closed-loop control in conjunction with feedback signals from the attitude sensor. The image acquisition device is used to simultaneously acquire visual image information of the inner wall of the vertical hole at each ranging position; The digital compass and attitude sensor module, combined with a three-axis magnetometer, a three-axis accelerometer and a three-axis gyroscope, constitute a nine-axis attitude calculation system for real-time acquisition of the heading angle, pitch angle and roll angle attitude information of the detector; The communication module is used to enable data interaction and remote control with external terminals; The data storage module is used to record ranging data, image data, attitude data and positioning data in real time; The power module provides independent power to each device and system of the detector; The control module is used to coordinate and control the operation of various devices and systems in the testing instrument.

2. The method of using the horizontal displacement distribution detector for a concrete dam traveling along a vertical line as described in claim 1, comprising the following steps: S1, Installation and initialization of the detection equipment, setting observation points; S2, start the crawling device, the device crawls down the vertical line to check the upright and inverted holes; S3, arrive at the observation point, collect data, including attitude acquisition, distance measurement, image acquisition, and anomaly detection of the collected data; If there are no abnormalities in the data, the corresponding data will be uploaded for real-time dissemination. If there are any abnormalities in the data, the abnormal situation will be recorded on video and the corresponding data will be uploaded and disseminated in real time. S4. Determine whether all the set observation points have been detected. If not, return to step S2 to continue; if completed, proceed to step S5. S5. After the detection is completed, the data is transmitted to an external terminal through the communication module, and the data is compared and analyzed to generate a displacement profile diagram. Then, conclusions and maintenance strategies are proposed.

3. The instrument for detecting the horizontal displacement distribution of a concrete dam along a vertical line as described in claim 1, characterized in that... The distance measuring device is a rotatable laser rangefinder, and the distance calculation formula is as follows: ； In the formula, This is the distance between the measuring instrument and the inner wall of the vertical hole. The baseline distance from the laser emitter to the image sensor. The laser emission angle, The angle between the incident light and the image sensor.

4. The instrument for detecting the horizontal displacement distribution along a vertical line of a concrete dam as described in claim 1, characterized in that... The image acquisition device is a camera, employing a small, low-power CMOS image sensor module. The image width calculation formula is as follows: ； In the formula, For the imaging width, The distance between the camera and the hole wall. The field of view is the angle of view.

5. The horizontal displacement distribution detector for a concrete dam traveling along a vertical line as described in claim 1, characterized in that... The digital compass and attitude sensor module, combined with a three-axis magnetometer, a three-axis accelerometer, and a three-axis gyroscope, constitute a nine-axis attitude calculation system. The attitude calculation formula is as follows: ； ； ； ； ； ； In the formula, The pitch angle, For roll angle, For heading angle, , , The accelerometers are respectively at Output in three directions, , These represent the X and Y components of the Earth's magnetic field on the horizontal plane. , , These are the changes in pitch angle, roll angle, and yaw angle, respectively. , , To measure the delay per unit time of the gyroscope Angular velocity in three directions.

Images