An intelligent monitoring system for a dam slope deep displacement inclinometer robot

Abstract

The present application relates to the technical field of slope monitoring, and more particularly to an intelligent monitoring system for a dam slope deep displacement inclinometer robot, comprising: a data acquisition module for acquiring a plurality of characteristic data of a dam slope soil body; a monitoring arrangement module for determining the arrangement spacing of a plurality of monitoring points according to a slope instability representation value and for determining the early warning area of a monitoring point according to the early warning representation value of the monitoring point within a preset monitoring period; and a control module for determining the cause according to acoustic emission energy density when the state of the early warning area does not meet the preset standard according to the soil cohesion of the early warning area, or for determining whether the state of the early warning area meets the preset standard according to the soil particle size representation value. The present application improves the accuracy of dam slope deep displacement monitoring.

Description

Technical Field

[0001] This invention relates to the field of slope monitoring technology, and in particular to an intelligent monitoring system for a robot used for measuring deep displacement of dam slopes. Background Technology

[0002] A reservoir dam is a core water conservancy project that intercepts river or tidal flow. It consists of the dam body, flood discharge facilities, and water conveyance tunnels, and its functions encompass flood control, power generation, and water resource allocation. The dam slopes, serving as the supporting structures on both sides of the dam body, are typically constructed of soil, rock, or artificial materials (such as concrete), and their stability directly affects the safety of the dam body. However, under long-term water pressure, rainfall infiltration, and geological activity, dam slopes are prone to soil siltation and piping failure, threatening dam safety.

[0003] Deep displacement of dam slopes refers to the movement or deformation of rock and soil masses within a certain depth below the ground surface, occurring within the slopes on both sides or upstream and downstream of the dam. Dam slope instability is usually not a thin-layer surface slide, but rather a systemic slide along deep, weak structural planes, such as faults, densely jointed zones, rock-soil interfaces, and ancient sliding surfaces. Deep displacement monitoring is the most direct means of detecting the location and activity of these potential sliding surfaces.

[0004] Piping occurs when water flows through pores or cracks in the soil, forming a pipe-like channel that carries away soil particles and creates cavities. When these cavities expand to a certain extent, the dam will collapse, resulting in a breach.

[0005] Soil siltation refers to the process by which clay minerals in slope soil hydrate due to moisture action (such as rainfall or reservoir soaking), leading to soil structure destruction and ultimately forming a muddy substance with high water content and low strength. This process is often accompanied by soil disintegration, decreased shear strength, and may even trigger landslides or bank collapses.

[0006] Traditional dam slope monitoring methods mainly rely on monitoring a single physical parameter, which can easily lead to misjudgments.

[0007] Chinese Patent Application Publication No. CN119845218A discloses a method and system for monitoring slope deformation in reservoir dam areas. Based on past impact water flow conditions and upstream water flow conditions, the method compares the risk of water flow impact. Based on the comparison results and the dam slope stability assessment results under impact, it predicts the slope stability under future water flow impact. Based on the predicted slope stability under future water flow impact, it provides early warning for reinforcement. By analyzing the dam slope stability under past water body impact conditions and comparing and judging the risk of water bodies, it comprehensively predicts and judges the slope stability under future water flow impact, thereby improving slope safety.

[0008] It can be seen that the above technical solutions rely solely on deformation data, vibration data, and water flow parameters to assess the stability of the dam slope, but do not consider soil parameters such as montmorillonite content. This makes it impossible to accurately distinguish the specific causes of slope instability, resulting in a lack of targeted response measures after the early warning. Moreover, the fixed deployment of monitoring equipment does not consider the dynamic adjustment of the deployment spacing, leading to low resource allocation efficiency and thus poor accuracy in monitoring deep displacement of the dam slope. Summary of the Invention

[0009] To address this issue, the present invention provides an intelligent monitoring system for a robot used for deep displacement measurement of dam slopes. This system overcomes the limitations of existing technologies that rely solely on deformation data, vibration data, and flow parameters to assess the stability of dam slopes, without considering soil parameters such as montmorillonite content. This makes it impossible to accurately distinguish the specific causes of slope instability, resulting in a lack of targeted response measures after early warning. Furthermore, the fixed deployment of monitoring equipment without considering dynamic adjustment of the deployment spacing leads to low resource allocation efficiency, resulting in poor accuracy in monitoring deep displacement of dam slopes.

[0010] To achieve the above objectives, the present invention provides an intelligent monitoring system for a dam slope deep displacement inclinometer robot, comprising: The data acquisition module is used to collect several characteristic data of the dam slope soil, including montmorillonite content, soil moisture content, pore water pressure, soil cohesion, soil particle size, and acoustic emission energy density. The monitoring deployment module is connected to the data acquisition module and is used to determine the deployment spacing of several monitoring points based on the slope instability characterization value, and to determine the early warning area of ​​the monitoring points based on the early warning characterization value of the monitoring points within a preset monitoring period. The control module, which is connected to the data acquisition module and the monitoring deployment module respectively, is used to determine the reason why the state of the warning area does not meet the preset standard based on the acoustic emission energy density, after determining that the state of the warning area does not meet the preset standard based on the soil cohesion of the warning area. The reason includes the risk of soil structure mudification or the risk of seepage channel piping failure in the warning area.

[0011] Furthermore, the monitoring deployment module determines the spacing between several monitoring points based on the slope instability characterization values, wherein, If the slope instability characterization value is less than the first preset slope instability threshold, then the first layout spacing shall be adopted; If the slope instability characterization value is greater than or equal to the first preset slope instability threshold and less than the second preset slope instability threshold, then the second layout spacing is adopted. If the slope instability characterization value is greater than or equal to the second preset slope instability threshold, then the third layout spacing is adopted; The layout spacing satisfies the condition that the first layout spacing is greater than the second layout spacing and the second layout spacing is greater than the third layout spacing.

[0012] Furthermore, the slope instability characterization value is determined by the montmorillonite content and soil moisture content of the dam slope soil.

[0013] Furthermore, the monitoring deployment module determines the early warning area of ​​the monitoring points based on the early warning characteristic values ​​of the monitoring points within a preset monitoring period, wherein, If the warning characterization value is less than the first preset warning characterization value, then the warning area radius of the monitoring point is determined to be the first preset radius; If the warning characterization value is greater than or equal to the first preset warning characterization value and less than the second preset warning characterization value, then the warning area radius of the monitoring point is determined to be the second preset radius. If the warning characterization value is greater than or equal to the second preset warning characterization value, then the warning area radius of the monitoring point is determined to be the third preset radius; The warning area is centered on the monitoring point and is distributed in a circular or elliptical shape; the radius of the warning area satisfies that the first preset radius is less than the second preset radius and the second preset radius is less than the third preset radius; the warning characterization value is determined by the pore water pressure change rate of the monitoring point and the horizontal projection distance of the landslide influence range.

[0014] Furthermore, the control module determines whether the state of the warning area meets a preset standard based on the soil cohesion in the warning area, wherein... If the soil cohesion is less than the first preset soil cohesion, the state of the warning area is determined to be inconsistent with the preset standard. The radius of the warning area is increased according to the difference between the first preset soil cohesion and the soil cohesion, and the cause is determined according to the acoustic emission energy density. If the soil cohesion is greater than or equal to the first preset soil cohesion and less than the second preset soil cohesion, it is determined that the state of the warning area does not meet the preset standard, the preset monitoring cycle is shortened, and the state of the warning area is determined a second time based on the soil particle size characterization value. If the soil cohesion is greater than or equal to the second preset soil cohesion, then the state of the warning area is determined to meet the preset standard.

[0015] Furthermore, the increase in the radius of the warning area is positively correlated with the soil cohesion difference, wherein the soil cohesion difference is the difference between the first preset soil cohesion and the soil cohesion.

[0016] Furthermore, the control module further determines, based on the soil particle size characterization value of the warning area, whether the state of the warning area meets the preset standard, wherein... If the soil particle size characterization value is less than the preset soil particle size characterization value, then the state of the warning area meets the preset standard; If the soil particle size characterization value is greater than or equal to the preset soil particle size characterization value, then the state of the warning area does not meet the preset standard, and it is determined that the preset monitoring cycle will be shortened. The soil particle size characterization value is the ratio of the content of soil sample particles with a particle size smaller than the preset particle size to the total content of the soil sample.

[0017] Furthermore, when the control module determines that the preset monitoring cycle should be shortened, it determines several adjustment coefficients for shortening the preset monitoring cycle based on the comparison result between the soil particle size characterization difference and the preset soil particle size characterization difference. The several adjustment coefficients include a first adjustment coefficient determined when the soil particle size characterization difference is less than the preset soil particle size characterization difference and a second adjustment coefficient determined when the soil particle size characterization difference is greater than or equal to the preset soil particle size characterization difference.

[0018] Furthermore, the soil particle size characterization difference is the difference between the soil particle size characterization value and the preset soil particle size characterization value.

[0019] Furthermore, the control module determines the reason why the state of the warning area does not meet the preset standard based on the acoustic emission energy density of the warning area, wherein... If the acoustic emission energy density is less than the preset acoustic emission energy density, it is determined that there is a risk of soil structure mudification in the warning area; If the acoustic emission energy density is greater than or equal to the preset acoustic emission energy density, then it is determined that there is a risk of seepage channel piping failure in the warning area.

[0020] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention adaptively determines the spacing of monitoring points based on the slope instability characterization value, and dynamically adjusts the radius of the warning area by verifying the warning characterization value, thereby optimizing the allocation of monitoring resources and avoiding resource waste caused by fixed deployment; in addition, by using multi-level judgment of soil cohesion and combining it with soil particle size characterization value for secondary judgment, misjudgment of a single parameter is avoided, thereby improving the accuracy of deep displacement monitoring of dam slope.

[0021] Furthermore, this invention divides the slope instability characterization value into three levels of thresholds, corresponding to three types of deployment spacing. This allows for a denser third spacing in high instability risk areas and a sparse first spacing in low instability risk areas, avoiding resource waste or missed detection caused by traditional fixed spacing, thereby improving the reliability of monitoring and early warning.

[0022] Furthermore, this invention divides the radius of the three-level early warning area by early warning characterization value, and combines the distribution of the early warning area in a circular or elliptical shape to ensure that the delineation of the risk range not only avoids the missed detection caused by the traditional fixed radius, but also conforms to the actual geological conditions. Moreover, while ensuring the monitoring coverage of high-risk areas, it avoids the over-monitoring of low-risk areas, thereby improving the monitoring accuracy of the early warning area.

[0023] Furthermore, this invention comprehensively calculates the early warning characterization value by combining the pore water pressure change rate (reflecting the seepage state in real time) and the horizontal projection distance of the landslide influence range (quantifying the potential damage scale). When the cohesion is extremely low, it indicates that the local slope is close to the critical state of instability, and the early warning range is automatically expanded to avoid missed reports caused by monitoring blind spots when landslides are caused by local instability. At the same time, the cause of the dam slope instability risk is accurately located based on the acoustic emission energy density. In addition, the stability of the soil structure is verified by the soil particle size characterization value (fine particle content), avoiding misjudgment based on a single cohesion parameter, thereby improving the monitoring accuracy.

[0024] Furthermore, this invention achieves precise control over the increase in the radius of the warning area by setting the increase in the radius of the warning area to be positively correlated with the difference in soil cohesion.

[0025] Furthermore, this invention distinguishes the causes of dam slope instability risks by acoustic emission energy density, providing a direct basis for targeted remediation measures and thus improving the efficiency of risk tracing. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the module connection of the intelligent monitoring system for the deep displacement inclinometer robot on the dam slope according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the process of determining the spacing between several monitoring points in an embodiment of the present invention. Figure 3 This is a flowchart illustrating how the state of a warning area is determined based on the soil cohesion within that warning area according to an embodiment of the present invention, and whether the state meets a preset standard. Figure 4 This is a flowchart illustrating the reasons why the state of the warning area does not meet the preset standard in an embodiment of the present invention. Detailed Implementation

[0027] To make the objectives and advantages of the present invention clearer, the present invention will be further described below with reference to embodiments; it should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention.

[0028] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0029] It should be noted that the data in this embodiment are all derived from a comprehensive analysis and evaluation of historical test data and corresponding historical test results from the three months prior to this test. Those skilled in the art will understand that the method described in this invention can determine the above-mentioned parameters in the following ways: selecting the value with the highest proportion based on the data distribution as the preset standard parameter; using weighted summation to obtain the value as the preset standard parameter; substituting each historical data point into a specific formula and using the value obtained by that formula as the preset standard parameter; or other selection methods, as long as the method described in this invention can clearly define different specific situations in the single-item judgment process through the obtained values.

[0030] Please see Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, it is a schematic diagram of the module connection of the intelligent monitoring system for the deep displacement inclinometer robot of dam slope according to an embodiment of the present invention; a flowchart of determining the layout spacing of several monitoring points according to an embodiment of the present invention; a flowchart of determining whether the state of the warning area meets the preset standard based on the soil cohesion of the warning area according to an embodiment of the present invention; a flowchart of determining the reasons why the state of the warning area does not meet the preset standard according to an embodiment of the present invention.

[0031] This invention provides an intelligent monitoring system for a dam slope deep displacement inclinometer robot, comprising: The data acquisition module is used to collect several characteristic data of the dam slope soil, including montmorillonite content, soil moisture content, pore water pressure, soil cohesion, soil particle size, and acoustic emission energy density. The monitoring deployment module is connected to the data acquisition module and is used to determine the deployment spacing of several monitoring points based on the slope instability characterization value and to determine the early warning area of ​​the monitoring points based on the early warning characterization value of the monitoring points within a preset monitoring period. The control module, which is connected to the data acquisition module and the monitoring deployment module respectively, is used to determine the reason why the state of the warning area does not meet the preset standard based on the acoustic emission energy density, after determining that the state of the warning area does not meet the preset standard based on the soil cohesion of the warning area. The reason includes the risk of soil structure mudification or the risk of seepage channel piping failure in the warning area.

[0032] Specifically, there are no restrictions on the specific structure of the monitoring deployment module and the control module. They themselves and their units can be composed of logic components, including field-programmable components, computers or microprocessors in computers.

[0033] Specifically, the monitoring deployment module determines the spacing between several monitoring points based on the slope instability characterization values, wherein, If the slope instability characterization value is less than the first preset slope instability threshold of 0.45, then the first layout spacing of 35m shall be adopted; If the slope instability characterization value is greater than or equal to the first preset slope instability threshold and less than the second preset slope instability threshold of 0.67, then the second layout spacing of 30m is adopted. If the slope instability characterization value is greater than or equal to the second preset slope instability threshold, then the third layout spacing of 25m shall be adopted; The layout spacing satisfies the condition that the first layout spacing is greater than the second layout spacing and the second layout spacing is greater than the third layout spacing.

[0034] Specifically, the detection system intensifies monitoring in high-risk areas and reduces equipment density in low-risk areas.

[0035] Specifically, the first preset slope instability threshold ranges from (0.30, 0.55), and the second preset slope instability threshold ranges from (0.60, 0.85). Preferably, the first preset slope instability threshold is 0.45 and the second preset slope instability threshold is 0.67. However, the above values ​​are not limited to these values, and those skilled in the art can adjust the values ​​according to actual needs.

[0036] In this embodiment, the first deployment spacing is selected as 35m, the second deployment spacing is selected as 30m, and the third deployment spacing is selected as 25m. However, the above values ​​are not limited to these, and those skilled in the art can adjust the values ​​according to actual needs.

[0037] Specifically, the slope instability characterization value is calculated using the following formula:

[0038] In the formula, A represents the characteristic value of slope instability; Indicates the first weight, set ; This indicates the preset montmorillonite content, set. M1 indicates the montmorillonite content; Indicates the second weight, set W0 represents the preset soil moisture content, which is set. W1 represents soil moisture content; the montmorillonite content was obtained using an X-ray diffractometer, and the soil moisture content was obtained using a humidity sensor.

[0039] Specifically, the higher the montmorillonite content, the easier it is for the soil to expand and soften under the influence of water, thus affecting slope stability. Increased water content leads to a decrease in the shear strength of the soil, which in turn causes slope instability.

[0040] Specifically, the monitoring deployment module determines the warning area of ​​the monitoring points based on the warning characteristic values ​​of the monitoring points within a preset monitoring period of 120 hours, wherein, If the warning characterization value is less than the first preset warning characterization value of 0.75, then the warning area radius of the monitoring point is determined to be the first preset radius of 5m; If the warning characterization value is greater than or equal to the first preset warning characterization value and less than the second preset warning characterization value of 1.28, then the warning area radius of the monitoring point is determined to be the second preset radius of 10m; If the warning indicator value is greater than or equal to the second preset warning indicator value, then the warning area radius of the monitoring point is determined to be the third preset radius of 15m; The warning area is centered on the monitoring point and is distributed in a circular or elliptical shape; the radius of the warning area satisfies the condition that the first preset radius is less than the second preset radius and the second preset radius is less than the third preset radius.

[0041] Specifically, the early warning indicator value integrates the pore water pressure change rate and the horizontal projection distance. Through dynamic adjustment of the three-level radius, the higher the risk of instability, the larger the early warning range, ensuring full coverage monitoring of high-risk areas and avoiding monitoring blind spots.

[0042] In this embodiment, the first preset radius is selected as 5m, the second preset radius is selected as 10m, the third preset radius is selected as 15m, the first preset warning characterization value is selected as 0.75, and the second preset warning characterization value is selected as 1.28. However, the above values ​​are not limited to these, and those skilled in the art can adjust the values ​​according to actual needs.

[0043] The warning indicator value is calculated using the following formula:

[0044] In the formula, R represents the early warning characterization value; k1 represents the weight setting of the pore water pressure change rate, k1=0.55; This indicates the preset pore water pressure change rate, set. ; Indicates the rate of change of pore water pressure; The horizontal projection distance weight of the landslide impact range is set. ; This indicates the horizontal projection distance of the preset landslide impact area, set. ; This indicates the horizontal projection distance of the landslide's impact area.

[0045] The pore water pressure change rate at the monitoring point is determined by the horizontal projection distance of the landslide's influence range.

[0046] Specifically, according to the "Technical Specification for Building Slope Engineering", the horizontal projection distance of the landslide influence range is the ratio of the slope height of the dam slope to the tangent of the slope's outward-sloping structural surface; wherein, the slope height of the dam slope is measured by a total station, and the slope's outward-sloping structural surface is measured by a geological compass.

[0047] Specifically, the control module determines whether the state of the warning area meets a preset standard based on the soil cohesion in the warning area. If the soil cohesion is less than the first preset soil cohesion of 8.5 kPa, the state of the warning area is determined to be inconsistent with the preset standard. The radius of the warning area is increased according to the difference between the first preset soil cohesion and the soil cohesion, and the cause is determined according to the acoustic emission energy density. If the soil cohesion is greater than or equal to the first preset soil cohesion and less than the second preset soil cohesion of 16.5 kPa, then the state of the warning area is determined to be inconsistent with the preset standard, the preset monitoring cycle is shortened, and the state of the warning area is determined a second time based on the soil particle size characterization value. If the soil cohesion is greater than or equal to the second preset soil cohesion, then the state of the warning area is determined to meet the preset standard. The soil cohesion was obtained using a soil cohesion tester.

[0048] In this embodiment, the first preset soil cohesion value ranges from 5 kPa to 10 kPa, and the second preset soil cohesion value ranges from 11 kPa to 30 kPa. Preferably, the first preset soil cohesion value is 8.5 kPa, and the second preset soil cohesion value is 16.5 kPa.

[0049] Specifically, cohesion is a key indicator of soil shear strength, reflecting the cementing ability between soil particles. When the soil cohesion is less than the first preset soil cohesion, the soil stability is poor and it is prone to sliding and collapse. When the soil cohesion is greater than or equal to the second preset soil cohesion, the stability is better.

[0050] Specifically, the increase in the radius of the warning area is positively correlated with the soil cohesion difference. The positive correlation can be linear or nonlinear. The slope of the linear positive correlation is not specifically limited. It can be understood that the larger the soil cohesion difference, the greater the increase in the radius of the warning area. The soil cohesion difference is the difference between the first preset soil cohesion and the soil cohesion.

[0051] Specifically, the control module makes a secondary determination of whether the state of the warning area meets the preset standard based on the soil particle size characterization value of the warning area, wherein... If the soil particle size characterization value is less than the preset soil particle size characterization value of 0.3, then the state of the warning area meets the preset standard; If the soil particle size characterization value is greater than or equal to the preset soil particle size characterization value, then the state of the warning area does not meet the preset standard, and it is determined that the preset monitoring cycle will be shortened. The soil particle size characterization value is the ratio of the content of soil sample particles with a particle size smaller than the preset particle size of 0.075 mm to the total content of the soil sample.

[0052] In this embodiment, the preset soil particle size characterization value is selected as 0.3, but the above value is not limited to this, and those skilled in the art can also adjust the value according to actual needs.

[0053] Specifically, the fine particle content is one of the important factors affecting the stability of clay slopes. Historical tests have shown that when the fine particle content exceeds 0.3%, the void ratio of the soil increases, the permeability decreases, and the shear strength weakens. These factors work together to reduce the stability of the slope and increase the probability of landslides.

[0054] Specifically, when the control module determines that the preset monitoring cycle should be shortened, it determines several adjustment coefficients for shortening the preset monitoring cycle based on the comparison between the soil particle size characterization difference and the preset soil particle size characterization difference. If the difference in soil particle size characterization is less than the preset difference in soil particle size characterization of 0.15, then the preset monitoring period is shortened to the corresponding value using the first adjustment coefficient. If the difference in soil particle size characterization is greater than or equal to the preset difference in soil particle size characterization, then the preset monitoring period is shortened to the corresponding value using the second adjustment coefficient. Specifically, the soil particle size characterization difference is the difference between the soil particle size characterization value and the preset soil particle size characterization value.

[0055] Specifically, the control module determines the reason why the state of the warning area does not meet the preset standard based on the acoustic emission energy density of the warning area, wherein... If the acoustic emission energy density is less than the preset acoustic emission energy density If so, it is determined that there is a risk of soil structure mudification in the warning area; If the acoustic emission energy density is greater than or equal to the preset acoustic emission energy density, then it is determined that there is a risk of seepage channel piping failure in the warning area; The acoustic emission energy density is obtained by an acoustic emission detector.

[0056] In this embodiment, the preset acoustic emission energy density is selected as follows: However, the above values ​​are not limited to these, and those skilled in the art can adjust the values ​​according to actual needs.

[0057] Specifically, soil structural mudification is a process in which clay minerals (mainly montmorillonite) absorb water and expand, leading to a slow loss of interparticle cohesion. Its failure mode is mainly plastic deformation, and the acoustic emission signal energy density is low. When seepage channels are damaged by piping, the water flow carries soil particles and violently collides and scours them, resulting in a significant increase in acoustic emission energy density.

[0058] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of the present invention.

[0059] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intelligent monitoring system for a robot used for deep displacement measurement of dam slopes, characterized in that, include: The data acquisition module is used to collect several characteristic data of the dam slope soil, including montmorillonite content, soil moisture content, pore water pressure, soil cohesion, soil particle size, and acoustic emission energy density. The monitoring deployment module is connected to the data acquisition module and is used to determine the deployment spacing of several monitoring points based on the slope instability characterization value, and to determine the early warning area of ​​the monitoring points based on the early warning characterization value of the monitoring points within a preset monitoring period. The control module, which is connected to the data acquisition module and the monitoring deployment module respectively, is used to determine the reason why the state of the warning area does not meet the preset standard based on the acoustic emission energy density, after determining that the state of the warning area does not meet the preset standard based on the soil cohesion of the warning area. The reason includes the risk of soil structure mudification or the risk of seepage channel piping failure in the warning area.

2. The intelligent monitoring system for deep displacement measurement robot of dam slope according to claim 1, characterized in that, The monitoring deployment module determines the spacing between several monitoring points based on the slope instability characterization values, wherein... If the slope instability characterization value is less than the first preset slope instability threshold, then the first layout spacing shall be adopted; If the slope instability characterization value is greater than or equal to the first preset slope instability threshold and less than the second preset slope instability threshold, then the second layout spacing is adopted. If the slope instability characterization value is greater than or equal to the second preset slope instability threshold, then the third layout spacing is adopted; The layout spacing satisfies the condition that the first layout spacing is greater than the second layout spacing and the second layout spacing is greater than the third layout spacing.

3. The intelligent monitoring system for deep displacement inclinometer robots on dam slopes according to claim 2, characterized in that, The slope instability characterization value is determined by the montmorillonite content and soil moisture content of the dam slope soil.

4. The intelligent monitoring system for deep displacement inclinometer robots on dam slopes according to claim 3, characterized in that, The monitoring deployment module determines the early warning area of ​​the monitoring points based on the early warning characteristic values ​​of the monitoring points within a preset monitoring period, wherein... If the warning characterization value is less than the first preset warning characterization value, then the warning area radius of the monitoring point is determined to be the first preset radius; If the warning characterization value is greater than or equal to the first preset warning characterization value and less than the second preset warning characterization value, then the warning area radius of the monitoring point is determined to be the second preset radius. If the warning characterization value is greater than or equal to the second preset warning characterization value, then the warning area radius of the monitoring point is determined to be the third preset radius; The warning area is distributed in a circular or elliptical shape with the monitoring point as the center; the radius of the warning area satisfies the following conditions: the first preset radius is smaller than the second preset radius and the second preset radius is smaller than the third preset radius; the radius of the warning area is smaller than the third deployment spacing; the warning characterization value is determined by the pore water pressure change rate of the monitoring point and the horizontal projection distance of the landslide influence range.

5. The intelligent monitoring system for deep displacement measurement robot of dam slope according to claim 4, characterized in that, The control module determines whether the state of the warning area meets a preset standard based on the soil cohesion in the warning area. If the soil cohesion is less than the first preset soil cohesion, the state of the warning area is determined to be inconsistent with the preset standard. The radius of the warning area is increased according to the difference between the first preset soil cohesion and the soil cohesion, and the cause is determined according to the acoustic emission energy density. If the soil cohesion is greater than or equal to the first preset soil cohesion and less than the second preset soil cohesion, it is determined that the state of the warning area does not meet the preset standard, the preset monitoring cycle is shortened, and the state of the warning area is determined a second time based on the soil particle size characterization value. If the soil cohesion is greater than or equal to the second preset soil cohesion, then the state of the warning area is determined to meet the preset standard.

6. The intelligent monitoring system for deep displacement inclinometer robots on dam slopes according to claim 5, characterized in that, The increase in the radius of the warning area is positively correlated with the soil cohesion difference, wherein the soil cohesion difference is the difference between the first preset soil cohesion and the soil cohesion.

7. The intelligent monitoring system for deep displacement inclinometer robots on dam slopes according to claim 6, characterized in that, The control module makes a secondary determination based on the soil particle size characterization value of the warning area to determine whether the state of the warning area meets the preset standard. If the soil particle size characterization value is less than the preset soil particle size characterization value, then the state of the warning area meets the preset standard; If the soil particle size characterization value is greater than or equal to the preset soil particle size characterization value, then the state of the warning area does not meet the preset standard, and it is determined that the preset monitoring cycle will be shortened. The soil particle size characterization value is the ratio of the content of soil sample particles with a particle size smaller than the preset particle size to the total content of the soil sample.

8. The intelligent monitoring system for deep displacement measurement robot of dam slope according to claim 7, characterized in that, Under the condition that the preset monitoring cycle is shortened, the control module determines several adjustment coefficients for shortening the preset monitoring cycle based on the comparison result of the soil particle size characterization difference and the preset soil particle size characterization difference. The several adjustment coefficients include a first adjustment coefficient determined when the soil particle size characterization difference is less than the preset soil particle size characterization difference and a second adjustment coefficient determined when the soil particle size characterization difference is greater than or equal to the preset soil particle size characterization difference.

9. The intelligent monitoring system for deep displacement inclinometer robots on dam slopes according to claim 8, characterized in that, The soil particle size characterization difference is the difference between the soil particle size characterization value and the preset soil particle size characterization value.

10. The intelligent monitoring system for deep displacement inclinometer robots on dam slopes according to claim 9, characterized in that, The control module determines the reason why the state of the warning area does not meet the preset standard based on the acoustic emission energy density of the warning area. If the acoustic emission energy density is less than the preset acoustic emission energy density, it is determined that there is a risk of soil structure mudification in the warning area; If the acoustic emission energy density is greater than or equal to the preset acoustic emission energy density, then it is determined that there is a risk of seepage channel piping failure in the warning area.

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