A device for monitoring the deterioration of rock-soil structure disturbed by hydraulic engineering for water and soil conservation and a method of use

Abstract

The application discloses a water conservancy engineering rock-soil structure disturbance degradation monitoring device for water and soil conservation and a use method, and relates to the technical field of rock-soil structure monitoring.The device comprises a transport plate car, a retainer is fixedly installed in the inside of the transport plate car, a plurality of uniformly distributed fixed-point monitoring mechanisms are loaded on the top of the retainer, the fixed-point monitoring mechanisms are used for plugging in the soil to perform real-time detection, a horizontal movement linear module is fixedly installed on one side of the transport plate car, and a throwing mechanical arm mechanism is arranged on the movable end of the horizontal movement linear module.The fixed-point monitoring mechanism is arranged, the ultrasonic soil detector is lowered to the outside of the rammed earth cylinder, and then the rock-soil structure is monitored in real time by using ultrasonic waves.Compared with the traditional soil monitoring mode, the fixed-point monitoring mode has smaller influence on the rock-soil structure, a large amount of soil does not need to be collected, the burden on the local ecological environment is greatly reduced, and the species diversity is protected.

Description

Technical Field

[0001] This invention relates to the field of soil and rock structure monitoring technology, specifically to a monitoring device and method for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation. Background Technology

[0002] While water conservancy projects benefit people's livelihoods, they can also have certain impacts on the local soil and rock structure and ecological environment. For example, excavation operations during construction directly disrupt the original stress balance of the soil and rock mass. Engineering excavation, soil removal and disposal, and site leveling operations directly damage surface vegetation and topsoil structure, causing a sharp drop in soil erosion resistance and making it extremely easy to cause large-scale soil erosion. At the same time, the damage to the soil and rock structure and soil erosion will lead to a sharp drop in soil fertility and structural deterioration, directly destroying the habitats on which plants and animals depend for survival. This severely weakens the ecosystem's functions of conserving water, purifying air, and regulating climate, disrupts the species balance in the region, and causes a significant decline in biodiversity.

[0003] To reduce the adverse impact of water conservancy projects on local soil and rock structures and the ecological environment, it is necessary to monitor the degree of soil and rock structure deterioration in real time. The current mainstream monitoring method is soil sampling. However, the mechanical excavation of soil sampling can directly destroy the living environment of many organisms, damage the soil aggregate structure, and the pits left by sampling can damage the soil water retention structure, increase the risk of local erosion, and affect the growth space and water absorption capacity of plant roots. The soil ecological function will continue to decline, affecting the reconstruction and stability of plant and animal communities. Therefore, a monitoring device and method for monitoring the deterioration of soil and rock structures disturbed by water conservancy projects for soil and water conservation are proposed. Summary of the Invention

[0004] The purpose of this invention is to address the problem of soil sampling damage and its impact on the living environment of numerous local organisms. This invention provides a monitoring device and method for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation.

[0005] To achieve the above objectives, the present invention specifically adopts the following technical solution: A monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation includes a transport cart. A retaining frame is fixedly installed inside the transport cart. Multiple evenly distributed fixed-point monitoring mechanisms are mounted on the top of the retaining frame. The fixed-point monitoring mechanisms are used to insert into the soil for real-time detection. A horizontally moving linear module is fixedly installed on one side of the transport cart. A delivery robotic arm mechanism is provided on the movable end of the horizontally moving linear module. The delivery robotic arm mechanism is used to deliver the fixed-point monitoring mechanisms mounted on the retaining frame. A drilling mechanism is provided at the rear end of the transport cart. The drilling mechanism is used to create pits in the ground where the fixed-point monitoring mechanisms can be inserted. The fixed-point monitoring mechanism includes an upper tube section, a lower tube section is fixedly installed at the bottom of the upper tube section, the lower tube section is inserted into the inside of the retainer, a suspension frame is fixedly installed inside the lower tube section, and an ultrasonic soil detector is fixedly installed at the bottom of the suspension frame.

[0006] Furthermore, an electric push rod is fixedly installed inside the lower pipe section. The telescopic end of the electric push rod is vertically downward and fixedly installed with a soil ramming cylinder. The soil ramming cylinder is slidably installed inside the lower pipe section. The ultrasonic soil detector is located inside the soil ramming cylinder. The two ends of the suspension frame pass through the top two sides of the soil ramming cylinder. Multiple evenly distributed sector plates are rotatably installed at the bottom end of the soil ramming cylinder. Multiple evenly distributed miniature torsion springs are fixedly installed at the bottom end of the soil ramming cylinder. The multiple miniature torsion springs are respectively connected to the two ends of the multiple sector plates. An interception ring is fixedly installed inside the bottom end of the soil ramming cylinder. The interception ring is located above the multiple sector plates.

[0007] Furthermore, multiple receiving holes are provided on the bottom periphery of the upper pipe section, and soil stabilizing frames are rotatably installed inside each receiving hole, with limit clamps sleeved on the upper pipe section.

[0008] Furthermore, a photovoltaic module is rotatably mounted on the top of the upper tube, and a commutator motor is fixedly mounted on the top side wall of the upper tube, with the output shaft of the commutator motor being drivenly connected to the photovoltaic module.

[0009] Furthermore, the delivery robotic arm mechanism includes a vertically moving linear module fixedly installed on the movable end of the horizontally moving linear module. A first telescopic arm is fixedly installed on one side of the movable end of the vertically moving linear module. A rotating arm is fixedly installed on the telescopic end of the first telescopic arm, which is vertically upward. A second telescopic arm is fixedly installed on the rotating end of the rotating arm. An electric gripper adapted to the fixed-point monitoring mechanism is horizontally set and fixedly installed on the telescopic end of the second telescopic arm. A clearance hole adapted to the fixed-point monitoring mechanism is opened on the rear side wall of the transport cart.

[0010] Furthermore, the drilling mechanism includes a support frame fixedly installed at the rear end of the transport vehicle, a third telescopic arm fixedly installed on one side of the top of the support frame, a drilling rig fixedly installed at the telescopic end of the third telescopic arm vertically downward, and a sampling tube fixedly installed at the drive end of the drilling rig.

[0011] Furthermore, a circulating air pump is fixedly installed on the other side of the top of the support frame, and an air delivery pipe is fixedly installed on the air delivery end of the circulating air pump. One end of the air delivery pipe is connected to the inside of the sampling tube.

[0012] A method for using a monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation includes the following steps: S1. Determine the location: The surveying personnel select a suitable location and control the transport cart to move to the vicinity of the location so that the drilling mechanism is aligned with the location; S2. Digging a pit: The drilling mechanism drives the sampling tube to open a pit. The circulating air pump draws air to form a negative pressure, keeping the soil in the sampling tube and carrying it out. The circulating air pump pumps air to discharge the soil column and drop it next to the pit. S3. Equipment deployment: The horizontally moving linear module and the deployment robotic arm mechanism drive the electric gripper to clamp the fixed-point monitoring mechanism, align the fixed-point monitoring mechanism with the pit and insert it; S4. Equipment fixing: Loosen the limit pipe clamp, rotate the soil fixing frame out, slide down the limit pipe clamp and tighten it to limit the soil fixing frame, so that the bottom end of the lower pipe is suspended in the air. S5. Real-time monitoring: The push rod retracts, allowing the ultrasonic soil detector to be lowered to the outside of the rammed earth cylinder, and the ultrasonic waves are used to monitor the soil and rock structure in real time. S6. Soil backfilling: All components of the fixed-point monitoring mechanism are reset, the limit clamps are re-covered on the receiving hole, the robotic arm mechanism is deployed to retrieve the fixed-point monitoring mechanism, and on-site personnel backfill the soil column that was originally left next to the pit.

[0013] The beneficial effects of this invention are as follows: 1. This invention sets up a fixed-point monitoring mechanism, which causes the electric push rod to retract and lower the ultrasonic soil detector to the outside of the rammed earth cylinder, thereby starting to use ultrasonic waves to monitor the soil and rock structure in real time. Compared with the traditional soil sampling monitoring method, the fixed-point monitoring method has less impact on the soil and rock structure, does not require the collection of a large amount of soil, greatly reduces the burden on the local ecological environment, and protects biodiversity. 2. This invention, by setting up a drilling mechanism, enables the drilling rig to drive the sampling tube to open a pit. The circulating air pump draws air from the sampling tube to form a negative pressure, avoiding gas compression. At the same time, the excavated soil is kept in the sampling tube and carried out of the pit. Then, the circulating air pump pumps air into the sampling tube, causing the soil column to be discharged and fall to one side of the pit, which facilitates timely backfilling, reduces the negative impact on the biological environment, and ensures the health and stability of the ecosystem. 3. By setting up a soil stabilizing frame, the fixed-point monitoring mechanism is inserted into the hole, the soil stabilizing frame is rotated out, and then the lower limiting pipe clamp is lowered and tightened, so that the soil stabilizing frame is stably erected on the soil, improving the stability of the fixed-point monitoring mechanism insertion, and making the bottom end of the lower pipe suspended in the air, not in direct contact with the soil in the pit. At the same time, when the fixed-point monitoring mechanism is retracted, the limiting pipe clamp can cover the receiving hole again to prevent the soil stabilizing frame from falling out. 4. By setting up sector plates, the present invention ensures that during the insertion of the fixed-point monitoring mechanism into the pit, each sector plate remains horizontal under the elastic action of the micro torsion spring and the interception action of the interception ring, thereby compacting the uneven or collapsed areas at the bottom of the pit. At the same time, it protects the ultrasonic soil detector inside. The lower tube is located at the upper end of the pit to prevent soil clods and stones from falling out. Both provide a safe space for the real-time monitoring of the fixed-point monitoring mechanism. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural schematic diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the fixed-point monitoring mechanism of the present invention in its retracted state; Figure 3 This is a three-dimensional structural diagram of the fixed-point monitoring mechanism of the present invention in its deployed state; Figure 4 This is a three-dimensional structural diagram of the ultrasonic soil detector and the rammed earth cylinder of the present invention. Figure 5 This is a first-view three-dimensional structural diagram of the rammed earth cylinder of the present invention; Figure 6 This is a two-dimensional structural diagram of the rammed earth cylinder of the present invention from a second perspective; Figure 7 This is a three-dimensional structural diagram of the robotic arm deployment mechanism of the present invention; Figure 8 This is a three-dimensional structural diagram of the drilling mechanism of the present invention; Figure 9 This is a flowchart illustrating the usage method of a monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation, according to the present invention. Reference numerals: 1. Transport trolley; 2. Holder; 3. Fixed-point monitoring mechanism; 4. Horizontal linear module; 5. Deployment robotic arm mechanism; 6. Drilling mechanism; 101. Clearance hole; 301. Upper pipe section; 302. Lower pipe section; 303. Suspension frame; 304. Ultrasonic soil detector; 305. Electric push rod; 306. Compactor cylinder; 307. Fan-shaped plate; 308. Miniature torsion spring cylinder; 309. Interception ring; 310. Soil stabilization frame; 311. Limiting pipe clamp; 312. Photovoltaic module; 313. Reversing motor; 501. Vertical linear module; 502. First telescopic arm; 503. Rotating arm; 504. Second telescopic arm; 505. Electric gripper; 601. Support frame; 602. Third telescopic arm; 603. Drilling rig; 604. Sampling tube; 605. Circulating air pump; 606. Air supply pipe. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0016] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0017] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0018] In the description of the embodiments of the present invention, it should be noted that the terms "inner", "outer", "upper", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting the present invention.

[0019] like Figures 1 to 8 As shown, a monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation includes a transport cart 1, such as... Figure 1 , Figure 8 As shown, specifically, a retainer 2 is fixedly installed inside the transport cart 1. Multiple evenly distributed fixed-point monitoring mechanisms 3 are mounted on the top of the retainer 2. A drilling mechanism 6 is provided at the rear end of the transport cart 1. The drilling mechanism 6 is used to create holes in the ground where the fixed-point monitoring mechanisms 3 can be inserted. The drilling mechanism 6 includes a support frame 601 fixedly installed at the rear end of the transport cart 1. A third telescopic arm 602 is fixedly installed on one side of the top of the support frame 601. The telescopic end of the third telescopic arm 602 is vertically downward and fixedly installed with a drill 603. A sampling tube 604 is fixedly installed at the drive end of the drill 603. A circulating air pump 605 is fixedly installed on the other side of the top of the support frame 601. An air supply pipe 606 is fixedly installed at the air supply end of the circulating air pump 605. One end of the air supply pipe 606 is connected to the interior of the sampling tube 604.

[0020] In this embodiment, the first telescopic arm 502, the second telescopic arm 504, and the third telescopic arm 602 can all be high-load large electric push rod 305 mechanisms or hydraulic telescopic rods commonly used in the prior art.

[0021] More specifically, when using the monitoring device for the deterioration of disturbed soil and rock structures in this water conservancy project, the fixed-point monitoring units 3 are stored in batches in the pits of the retainer 2. Surveyors pre-select suitable locations on-site, control the transport cart 1 to move to the vicinity of the location, aligning the drilling mechanism 6 with the location. After the location is aligned by setting the drilling mechanism 6, the drilling rig 603 drives the sampling tube 604 to begin rotating. The third telescopic arm 602 drives the drilling rig 603 and the sampling tube 604 to descend as a whole until the sampling tube 604 begins to sink into the soil to the designated depth, opening the pit. During this period, [the process continues]. The circulating air pump 605 gradually draws air from the top of the sampling tube 604, creating a negative pressure inside the sampling tube 604 to prevent gas compression. This also keeps the excavated soil in the sampling tube 604. As the third telescopic arm 602 is raised, the soil is carried out of the pit. Then, the transport trolley 1 turns, and the circulation valve group inside the circulating air pump 605 switches its circuit, allowing the circulating air pump 605 to pump air into the sampling tube 604. This causes the soil column to be discharged and fall to one side of the pit, facilitating timely backfilling, reducing negative impacts on the biological environment, and ensuring the health and stability of the ecosystem.

[0022] like Figure 1 , Figure 7 As shown, a horizontally moving linear module 4 is fixedly installed on one side of the transport cart 1. A delivery robotic arm mechanism 5 is provided on the movable end of the horizontally moving linear module 4. The delivery robotic arm mechanism 5 is used to deliver the fixed-point monitoring mechanism 3 loaded on the retainer 2. Specifically, the delivery robotic arm mechanism 5 includes a vertically moving linear module 501 fixedly installed on the movable end of the horizontally moving linear module 4. A first telescopic arm 502 is fixedly installed on one side of the movable end of the vertically moving linear module 501. The telescopic end of the first telescopic arm 502 is vertically upward and fixedly installed with a rotating arm 503. The rotating end of the rotating arm 503 is fixedly installed with a second telescopic arm 504. The telescopic end of the second telescopic arm 504 is horizontally set and fixedly installed with an electric gripper 505 adapted to the fixed-point monitoring mechanism 3. A clearance hole 101 adapted to the fixed-point monitoring mechanism 3 is opened on the rear side wall of the transport cart 1.

[0023] In this embodiment, both the horizontal linear module 4 and the vertical linear module 501 can be common linear actuators in the prior art, such as linear motor modules, or mechanisms such as screw thread sleeves, belts and pulleys, chains and sprockets, and self-propelled trolleys. The linear movement of the drive end is controlled by the threaded guidance or meshing action. In addition to electrical energy, components such as cylinders and hydraulic rods can also be used as power sources. The horizontal linear module 4 and the vertical linear module 501 in this embodiment can adopt technical solutions including but not limited to the above, depending on the actual situation. The rotating arm 503 is driven to rotate by a servo motor with a self-locking structure. The movement trajectory of the rotating end of the rotating arm 503 is located on the horizontal plane, and its rotation axis value is fixed. The fixed end of the rotating arm 503 is fixedly connected to the telescopic end of the first telescopic arm 502.

[0024] More specifically, by setting up a delivery robotic arm mechanism 5, after the pit is opened, the transport trolley 1 turns, and the horizontal moving linear module 4 drives the delivery robotic arm mechanism 5 to move horizontally. The vertical moving linear module 501, the first telescopic arm 502, and the second telescopic arm 504 cooperate to drive each other, so that the electric gripper 505 moves to one side of one of the fixed-point monitoring mechanisms 3. Then the electric gripper 505 clamps and fixes the fixed-point monitoring mechanism 3. The vertical moving linear module 501 and the first telescopic arm 502 drive synchronously to remove the fixed-point monitoring mechanism 3 from the retainer 2. Then the delivery robotic arm mechanism 5 moves to the rear end of the transport trolley 1. The rotating arm 503 drives the second telescopic arm 504 to turn, so that the fixed-point monitoring mechanism 3 rotates out of the clearance hole 101. Then the components cooperate to drive each other again, so that the upper tube 301 is aligned with the pit and inserted. Then the fixed-point monitoring mechanism 3 is reset, completing the automatic delivery of the fixed-point monitoring mechanism 3.

[0025] like Figure 4 , Figure 5 , Figure 6 As shown, specifically, an electric push rod 305 is fixedly installed inside the lower pipe section 302. The telescopic end of the electric push rod 305 is vertically downward and fixedly installed with a soil tamping cylinder 306. The soil tamping cylinder 306 is slidably installed inside the lower pipe section 302. An ultrasonic soil detector 304 is located inside the soil tamping cylinder 306. The two ends of the suspension frame 303 pass through the top sides of the soil tamping cylinder 306. Multiple evenly distributed fan-shaped plates 307 are rotatably installed at the bottom end of the soil tamping cylinder 306. Multiple evenly distributed miniature torsion springs 308 are fixedly installed at the bottom end of the soil tamping cylinder 306. The multiple miniature torsion springs 308 are respectively connected to the two ends of the multiple fan-shaped plates 307. An interception ring 309 is fixedly installed inside the bottom end of the soil tamping cylinder 306. The interception ring 309 is located above the multiple fan-shaped plates 307.

[0026] In this embodiment, the sector plate 307 is rotatably assembled at the bottom end of the rammed earth cylinder 306 via a rotating shaft and a bracket, and the internal torsion spring of the miniature torsion spring cylinder 308 is sleeved at both ends of the rotating shaft.

[0027] More specifically, by setting up sector plates 307, during the process of the fixed-point monitoring mechanism 3 being inserted into the pit, each sector plate 307 is kept horizontal under the elastic action of the micro torsion spring cylinder 308 and the interception action of the interception ring 309, thereby compacting the uneven or collapsed areas at the bottom of the pit, while protecting the ultrasonic soil detector 304 inside. The lower tube 302 is located at the upper end of the pit to prevent soil clods and stones from falling out. Both provide a safe space for the real-time monitoring of the fixed-point monitoring mechanism 3.

[0028] like Figure 2 , Figure 3 As shown, specifically, the bottom periphery of the upper pipe section 301 is provided with multiple receiving holes, and a soil stabilizing frame 310 is rotatably installed inside each receiving hole. A limit clamp 311 is sleeved on the upper pipe section 301.

[0029] More specifically, by setting up soil stabilization frames 310, after the fixed-point monitoring mechanism 3 is inserted into the hole, the on-site personnel loosen the limiting pipe clamps 311, open each receiving hole, and rotate the soil stabilization frames 310 out. Then, they slide the limiting pipe clamps 311 downwards so that the bottom end of the limiting pipe clamps 311 presses on each soil stabilization frame 310. Then, they tighten the limiting pipe clamps 311 so that they can limit each soil stabilization frame 310, making the soil stabilization frame 310 stably erected on the soil. This improves the stability of the insertion of the fixed-point monitoring mechanism 3 and makes the bottom end of the lower pipe 302 suspended, not in direct contact with the soil in the pit. At the same time, when the fixed-point monitoring mechanism 3 is retracted, the limiting pipe clamps 311 can cover the receiving hole again to prevent the soil stabilization frames 310 from falling out.

[0030] Fixed-point monitoring unit 3 is used to insert into the soil for real-time detection, such as... Figure 2 , Figure 4 As shown, the fixed-point monitoring mechanism 3 includes an upper pipe section 301, a lower pipe section 302 is fixedly installed at the bottom of the upper pipe section 301, the lower pipe section 302 is inserted into the inside of the retainer 2, a suspension frame 303 is fixedly installed inside the lower pipe section 302, and an ultrasonic soil detector 304 is fixedly installed at the bottom of the suspension frame 303.

[0031] More specifically, by setting up a fixed-point monitoring mechanism 3, the electric push rod 305 retracts, causing the rammed earth cylinder 306 to slide upwards and retract into the lower tube 302. This causes the bottom end of the ultrasonic soil detector 304 to slide down relative to the rammed earth cylinder 306, thereby driving the fan-shaped plate 307 to flip downwards and lower the ultrasonic soil detector 304 to the outside of the rammed earth cylinder 306. This allows for real-time monitoring of the soil and rock structure using ultrasound. Compared to traditional soil sampling monitoring methods, the fixed-point monitoring method has less impact on the soil and rock structure, does not require the collection of large amounts of soil, significantly reduces the burden on the local ecological environment, and protects biodiversity.

[0032] like Figure 2 , Figure 3 As shown, specifically, a photovoltaic module 312 is rotatably mounted on the top of the upper tube 301, and a commutator motor 313 is fixedly mounted on the top side wall of the upper tube 301. The output shaft of the commutator motor 313 is drivenly connected to the photovoltaic module 312.

[0033] More specifically, by setting up photovoltaic modules 312, the photovoltaic modules 312 at the top of the upper pipe section 301 can generate photovoltaic power during the monitoring process of the fixed-point monitoring agency 3, providing power for the monitoring operation of the fixed-point monitoring agency 3. The commutator motor 313 can drive the photovoltaic modules 312 to adjust their orientation in real time to ensure power generation efficiency.

[0034] like Figure 9 As shown, a method for using a monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation includes the following steps: S1. Determine the location: The surveyors select a suitable location and control the transport cart 1 to move to the vicinity of the location so that the drilling mechanism 6 is aligned with the location; S2. Digging a pit: The drilling mechanism 6 drives the sampling tube 604 to open a pit. The circulating air pump 605 draws air to form a negative pressure, so that the soil is kept in the sampling tube 604 and carried out. The circulating air pump 605 pumps air to discharge the soil column and fall next to the pit. S3, Equipment Placement: The horizontal moving linear module 4 and the placement robotic arm mechanism 5 drive the electric gripper 505 to clamp the fixed-point monitoring mechanism 3, so that the fixed-point monitoring mechanism 3 is aligned with the pit and inserted. S4. Equipment fixing: Loosen the limit pipe clamp 311, turn out the soil fixing frame 310, slide down the limit pipe clamp 311 and tighten it to limit the soil fixing frame 310, so that the bottom end of the lower pipe 302 is suspended in the air. S5. Real-time monitoring: The electric push rod 305 retracts, causing the ultrasonic soil detector 304 to be lowered to the outside of the rammed earth cylinder 306, and the ultrasonic waves are used to monitor the soil and rock structure in real time. S6. Soil backfilling: All components of the fixed-point monitoring mechanism 3 are reset, the limit clamp 311 is re-covered on the receiving hole, the robotic arm mechanism 5 is used to retrieve the fixed-point monitoring mechanism 3, and the on-site personnel backfill the soil column that was originally left next to the pit.

[0035] In summary: Location determination: Surveyors pre-select suitable locations on-site, control the transport cart 1 to move to the vicinity of the location, and align the drilling mechanism 6 with the location; Excavating the pit: Drill 603 drives sampling tube 604 to start rotating. The third telescopic arm 602 drives drill 603 and sampling tube 604 to descend as a whole until sampling tube 604 begins to sink into the soil to the specified depth, thus creating a pit. During this period, circulating air pump 605 gradually draws air from the top of sampling tube 604 to create a negative pressure inside sampling tube 604, preventing gas compression and keeping the excavated soil in sampling tube 604. As the third telescopic arm 602 is raised, the soil is carried out of the pit. Then, transport trolley 1 turns, and the circulation valve group inside circulating air pump 605 switches the circuit, allowing circulating air pump 605 to pump air into sampling tube 604, causing the soil column to be discharged and fall to one side of the pit. Equipment deployment: The transport trolley 1 turns, the horizontal linear module 4 drives the deployment robotic arm mechanism 5 to move horizontally, the vertical linear module 501, the first telescopic arm 502 and the second telescopic arm 504 cooperate to drive the electric gripper 505 to one side of one of the fixed-point monitoring mechanisms 3, and then the electric gripper 505 clamps and fixes the fixed-point monitoring mechanism 3. The vertical linear module 501 and the first telescopic arm 502 drive synchronously to remove the fixed-point monitoring mechanism 3 from the retainer 2. Then the deployment robotic arm mechanism 5 moves to the rear end of the transport trolley 1. The rotating arm 503 drives the second telescopic arm 504 to turn, so that the fixed-point monitoring mechanism 3 rotates out of the clearance hole 101. Then the components cooperate to drive again, so that the upper tube 301 is aligned with the pit and inserted. Then the fixed-point monitoring mechanism 3 is reset. Equipment fixing: On-site personnel loosen the limiting pipe clamp 311, open each receiving hole and rotate out the soil stabilizing frame 310 inside, then slide the limiting pipe clamp 311 downward so that the bottom end of the limiting pipe clamp 311 presses on each soil stabilizing frame 310, and then tighten the limiting pipe clamp 311 so that the limiting pipe clamp 311 can limit each soil stabilizing frame 310, so that the soil stabilizing frame 310 is stably erected on the soil, improving the stability of the fixed point monitoring mechanism 3 insertion, and making the bottom end of the lower pipe 302 suspended in the air, not in direct contact with the soil in the pit; Real-time monitoring: The electric push rod 305 retracts, causing the rammed earth cylinder 306 to slide upwards and retract into the lower tube 302, causing the bottom end of the ultrasonic soil detector 304 to slide down relative to the rammed earth cylinder 306, thereby driving the fan-shaped plate 307 to flip downwards, lowering the ultrasonic soil detector 304 to the outside of the rammed earth cylinder 306, thus starting to use ultrasound to monitor the soil and rock structure in real time. Soil backfilling: All components of the fixed-point monitoring mechanism 3 are reset, the limit clamp 311 can be re-covered on the receiving hole, the deployment robotic arm mechanism 5 retrieves the fixed-point monitoring mechanism 3, and the on-site personnel backfill the soil column that was originally left next to the pit.

[0036] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation, characterized in that, The system includes a transport flatbed truck (1), a retainer (2) is fixedly installed inside the transport flatbed truck (1), and a plurality of evenly distributed fixed-point monitoring mechanisms (3) are mounted on the top of the retainer (2). The fixed-point monitoring mechanisms (3) are used to be inserted into the soil for real-time detection. A horizontally moving linear module (4) is fixedly installed on one side of the transport flatbed truck (1). A delivery robotic arm mechanism (5) is provided on the movable end of the horizontally moving linear module (4). The delivery robotic arm mechanism (5) is used to deliver the fixed-point monitoring mechanisms (3) loaded on the retainer (2). A drilling mechanism (6) is provided at the tail end of the transport flatbed truck (1). The drilling mechanism (6) is used to create a hole in the ground where the fixed-point monitoring mechanisms (3) can be inserted. The fixed-point monitoring mechanism (3) includes an upper tube (301), a lower tube (302) is fixedly installed at the bottom of the upper tube (301), the lower tube (302) is inserted into the inside of the retainer (2), a suspension frame (303) is fixedly installed inside the lower tube (302), and an ultrasonic soil detector (304) is fixedly installed at the bottom of the suspension frame (303).

2. The monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation according to claim 1, characterized in that, An electric push rod (305) is fixedly installed inside the lower tube (302). The telescopic end of the electric push rod (305) is vertically downward and fixedly installed with a rammed earth cylinder (306). The rammed earth cylinder (306) is slidably installed inside the lower tube (302). The ultrasonic soil detector (304) is located inside the rammed earth cylinder (306). The two ends of the suspension frame (303) pass through the top two sides of the rammed earth cylinder (306). Multiple evenly distributed fan-shaped plates (307) are rotatably installed at the bottom end of the rammed earth cylinder (306). Multiple evenly distributed miniature torsion springs (308) are fixedly installed at the bottom end of the rammed earth cylinder (306). The multiple miniature torsion springs (308) are respectively connected to the two ends of the multiple fan-shaped plates (307). An interception ring (309) is fixedly installed inside the bottom end of the rammed earth cylinder (306). The interception ring (309) is located above the multiple fan-shaped plates (307).

3. The monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation according to claim 1, characterized in that, The bottom periphery of the upper pipe (301) is provided with multiple receiving holes, and a soil stabilizing frame (310) is rotatably installed inside each receiving hole. A limit clamp (311) is sleeved on the upper pipe (301).

4. The monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation according to claim 1, characterized in that, A photovoltaic module (312) is rotatably mounted on the top of the upper tube (301), and a commutator motor (313) is fixedly mounted on the top side wall of the upper tube (301). The output shaft of the commutator motor (313) is drivenly connected to the photovoltaic module (312).

5. A monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation, as described in claim 1, is characterized in that... The delivery robotic arm mechanism (5) includes a vertically moving linear module (501) fixedly installed on the movable end of the horizontally moving linear module (4). A first telescopic arm (502) is fixedly installed on one side of the movable end of the vertically moving linear module (501). A rotating arm (503) is fixedly installed on the telescopic end of the first telescopic arm (502) with its telescopic end pointing vertically upward. A second telescopic arm (504) is fixedly installed on the rotating end of the rotating arm (503). An electric gripper (505) adapted to the fixed-point monitoring mechanism (3) is horizontally set and fixedly installed on the telescopic end of the second telescopic arm (504). A clearance hole (101) adapted to the fixed-point monitoring mechanism (3) is opened on the rear side wall of the transport cart (1).

6. A monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation, as described in claim 1, is characterized in that... The drilling mechanism (6) includes a support frame (601) fixedly installed at the rear end of the transport vehicle (1). A third telescopic arm (602) is fixedly installed on one side of the top of the support frame (601). The telescopic end of the third telescopic arm (602) is vertically downward and fixedly installed with a drilling rig (603). A sampling tube (604) is fixedly installed at the drive end of the drilling rig (603).

7. A monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation, as described in claim 6, is characterized in that... A circulating air pump (605) is fixedly installed on the other side of the top of the support frame (601). A gas delivery pipe (606) is fixedly installed on the gas delivery end of the circulating air pump (605). One end of the gas delivery pipe (606) is connected to the inside of the sampling tube (604).

8. A method of using the monitoring device for monitoring the deterioration of disturbed soil and rock structures in water conservancy projects for soil and water conservation, based on any one of claims 1-7, characterized in that, Includes the following steps: S1. Determine the location: The surveyor selects a suitable location and controls the transport cart (1) to move to the vicinity of the location so that the drilling mechanism (6) is aligned with the location; S2. Digging a pit: The drilling mechanism (6) drives the sampling tube (604) to open a pit. The circulating air pump (605) draws air to form a negative pressure, so that the soil is kept in the sampling tube (604) and carried out. The circulating air pump (605) pumps air to discharge the soil column and fall next to the pit. S3, Equipment placement: The horizontal moving linear module (4) and the placement robotic arm mechanism (5) drive the electric gripper (505) to clamp the fixed-point monitoring mechanism (3), so that the fixed-point monitoring mechanism (3) is aligned with the pit and inserted; S4. Equipment fixing: Loosen the limiting pipe clamp (311), turn the soil fixing frame (310) out, slide down the limiting pipe clamp (311) and tighten it to limit the soil fixing frame (310) so that the bottom end of the lower pipe (302) is suspended in the air. S5. Real-time monitoring: The electric push rod (305) retracts, causing the ultrasonic soil detector (304) to be lowered to the outside of the rammed earth cylinder (306), and the ultrasonic waves are used to monitor the soil and rock structure in real time. S6. Soil backfilling: The components of the fixed-point monitoring mechanism (3) are reset, the limit clamp (311) is re-covered on the receiving hole, the mechanical arm mechanism (5) is deployed to retrieve the fixed-point monitoring mechanism (3), and the on-site personnel backfill the soil column that was originally left next to the pit.

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