中国水利Issue(10)：34-45,12.DOI:10.3969/j.issn.1000-1123.2026.10.005
测量机器人与北斗协同融合的大坝变形智能监测系统设计
Design of an intelligent monitoring system for dam deformation based on cooperative fusion of measurement robot and BeiDou:a case study of face rockfill dam of Tianshengqiao I Hydropower Station
摘要
Abstract
Aiming at the problems of low automation,poor data continuity,data islands,and over-reliance on manual experience in early warning during the appearance deformation monitoring of the 178 m high concrete face rockfill dam of Tianshengqiao I Hydropower Station,this paper constructed an intelligent monitoring system integrating a measurement robot and BeiDou-3 high-precision positioning.The system adopted a layered and decoupled five-tier architecture(perception,transmission,data,application,and user),integrating 5 intelligent measuring stations of measurement robots,89 monitoring points,3 BeiDou base stations,35 BeiDou monitoring points,and 47 sets of meteorological environment sensing equipment,forming a comprehensive perception network integrating heaven and earth.At the key technology level,by constructing a three-dimensional real-time meteorological field model in complex mountainous areas,a series of precision improvement methods were proposed,including integral correction of atmospheric refraction path for distance measurement of measurement robot,dynamic refraction coefficient correction of triangular elevation,and real-time correction of low troposphere of BeiDou baseline;meanwhile,multi-source datum fusion and autonomous correction technology,adaptive control and real-time networking adjustment technology of measurement robot,and single BeiDou adaptive baseline solution and atmospheric delay constraint technology were designed.Based on an adaptive Kalman filter,the deep fusion of high-frequency and high-precision relative displacement of the measurement robot and continuous absolute displacement of BeiDou was realized.The system realized all-weather,automated,and millimeter-level collaborative monitoring of surface deformation in the dam body,spillway slope,powerhouse,and other areas.The expected mean square error of horizontal displacement monitoring was better than±2 mm,and the expected mean square error of vertical displacement monitoring was better than±3 mm.It could effectively replace the traditional manual observation mode of the sight line method and significantly improve the continuity and reliability of monitoring data,as well as the intelligent level of early warning response.The design results can provide a reusable technical system and engineering paradigm for the intellectualization and localization upgrading of deformation monitoring of high concrete face rockfill dams.关键词
测量机器人/北斗三号/大坝变形智能监测/协同融合/面板堆石坝/天生桥一级水电站Key words
measuring robot/BeiDou-3/intelligent monitoring of dam deformation/collaborative integration/face rockfill dam/Tianshengqiao I Hydropower Station分类
建筑与水利引用本文复制引用
曹腾腾,王华为,李双平,胡召根,刘祖强,许鑫,张斌,刘建华,郑敏,叶超..测量机器人与北斗协同融合的大坝变形智能监测系统设计[J].中国水利,2026,(10):34-45,12.基金项目
湖北省科技计划项目(2025BEB025) （2025BEB025）
天生桥一级水电开发有限责任公司水力发电厂项目(TYHT-KJ-2025-13). （TYHT-KJ-2025-13）
