Unmanned system and method for monitoring lateral deformation of landslide based on inertial measurement

Patent metadata

Field	Value
Publication number	US-11859974-B2
Application number	US-202117336327-A
Country	US
Kind code	B2
Filing date	Jun 2, 2021
Priority date	Mar 30, 2021
Publication date	Jan 2, 2024
Grant date	Jan 2, 2024

Abstract

In an unmanned system for monitoring lateral deformation of a landslide based on inertial measurement, a deformable coupling pipeline is disposed in a landslide mass. An unmanned trajectory tracer is provided with a battery, a motor wheel, an inertial sensor, and a single chip microcomputer that are electrically connected. The single chip microcomputer controls the motor wheel to drive the unmanned trajectory tracer to move back and forth in the deformable coupling pipeline. The single chip microcomputer controls the inertial sensor to measure a shape of the deformable coupling pipeline. Two monitoring piers are disposed at two ends of the deformable coupling pipeline respectively. The monitoring pier is provided with a GPS device and a communication device, the communication device is in communication connection with the single chip microcomputer, and the single chip microcomputer obtains the shape of the deformable coupling pipeline and sends to the communication device.

First claim

What is claimed is:

1. An unmanned system for monitoring lateral deformation of a landslide based on inertial measurement, comprising:
a deformable coupling pipeline, disposed in a landslide mass and at an upper part of a sliding surface;
an unmanned trajectory tracer, disposed in the deformable coupling pipeline, wherein the unmanned trajectory tracer is provided with a battery, a plurality of motor wheels, an inertial sensor, and a single chip microcomputer that are electrically connected; the plurality of motor wheels is configured to make contact with an inner wall of the deformable coupling pipeline; when the plurality of motor wheels is powered on, the single chip microcomputer controls the plurality of motor wheels to rotate, to drive the unmanned trajectory tracer to move back and forth in the deformable coupling pipeline; and in a moving process of the unmanned trajectory tracer, the single chip microcomputer controls the inertial sensor to measure a shape of the deformable coupling pipeline; and
two monitoring piers, securely connected to two ends of the deformable coupling pipeline respectively, wherein the monitoring pier is provided with a global positioning system (GPS) device and a communication device, the GPS device is configured to obtain positions of the monitoring piers in real time, the communication device is in communication connection with the single chip microcomputer, the single chip microcomputer obtains the shape of the deformable coupling pipeline and sends to the communication device, and the communication device is configured to upload the shape of the deformable coupling pipeline to a network or a mobile terminal.

2. The unmanned system according to claim 1 , wherein the monitoring pier is provided with a solar cell, the deformable coupling pipeline is wound with a wireless power transmitting coil, the solar cell is electrically connected to the wireless power transmitting coil, the unmanned trajectory tracer is wound with a wireless coupling coil, the wireless power transmitting coil is wirelessly coupled with the wireless coupling coil, and the battery is electrically connected to the wireless coupling coil.

3. The unmanned system according to claim 1 , wherein the deformable coupling pipeline is provided with a first near field communication (NFC) terminal, the unmanned trajectory tracer is provided with a second NFC terminal, the first NFC terminal is in communication connection with the second NFC terminal, the first NFC terminal is electrically connected to the communication device, and the second NFC terminal is electrically connected to the single chip microcomputer.

4. The unmanned system according to claim 1 , wherein the unmanned trajectory tracer comprises a hollowed-out cavity, and the inertial sensor and the single chip microcomputer are secured in the hollowed-out cavity.

5. The unmanned system according to claim 4 , wherein the unmanned trajectory tracer further comprises two connecting rods and support links, the two connecting rods extend along an extension direction of the deformable coupling pipeline, and are respectively secured at two ends of the hollowed-out cavity, the two connecting rods each are connected to a plurality of support links, one end of each support link is securely connected to an end portion of the hollowed-out cavity, the other end of the support link is connected to an end, far away from the hollowed-out cavity, of each of the two connecting rods, and the plurality of motor wheels is secured on each support link, respectively.

6. The unmanned system according to claim 5 , wherein the other end of the support link is slidably mounted on the two connecting rods, and a spring is connected between the other end of the support link and the end, far away from the hollowed-out cavity, of the two connecting rods.

7. The unmanned system according to claim 1 , wherein the two monitoring piers are secured on a solid ground surface.

8. The unmanned system according to claim 1 , wherein one monitoring pier is secured on a solid ground surface, and the other monitoring pier is secured on the landslide mass.

9. The unmanned system according to claim 1 , wherein the two monitoring piers are secured on the landslide mass.

10. A monitoring method, based on the unmanned system for monitoring lateral deformation of a landslide based on inertial measurement according to claim 1 , and comprising the following steps:
S 1 : determining a position of an initial measuring line of a landslide mass based on existing geological exploration data;
S 2 : disposing a deformable coupling pipeline in the landslide mass along a direction of the initial measuring line, and disposing an unmanned trajectory tracer at one end of the deformable coupling pipeline;
S 3 : building monitoring piers on two sides of the deformable coupling pipeline, and securely connecting the monitoring piers to two ends of the deformable coupling pipeline; and
S 4 : driving, by rotation of the plurality of motor wheels, the unmanned trajectory tracer to move back and forth in the deformable coupling pipeline; controlling, by a single chip microcomputer, an inertial sensor and the plurality of motor wheels, to measure the deformable coupling pipeline regularly; performing positioning by using the GPS device, and obtaining a shape of the deformable coupling pipeline by using the inertial sensor, to obtain a deformation measuring line of the deformable coupling pipeline; and using the initial measuring line of the deformable coupling pipeline as a zero displacement, and in a subsequent monitoring process, obtaining a displacement distribution curve, along a direction of the measuring line, of the landslide mass by subtracting a curve of the initial measuring line from each measured curve of the deformation measuring line.

Assignees

• Univ China Geosciences Wuhan

Inventors

• Zhang Yongquan
• Tang Huiming
• Zhang Junrong
• Lu Guiying
• Li Changdong
• Wang Qianyun
• Lin Chengyuan

Classifications

• G01C15/00 Primary

  Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00 · CPC title

• G01B5/20

  for measuring contours or curvatures · CPC title

• G01S19/01

  Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO · CPC title

• G01B21/32 Primary

  for measuring the deformation in a solid · CPC title

• G01B5/30 Primary

  for measuring the deformation in a solid, e.g. mechanical strain gauge · CPC title