WO2022205613A1 - 基于惯性测量技术的无人式滑坡横向变形监测***及方法 - Google Patents

基于惯性测量技术的无人式滑坡横向变形监测***及方法 Download PDF

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WO2022205613A1
WO2022205613A1 PCT/CN2021/098091 CN2021098091W WO2022205613A1 WO 2022205613 A1 WO2022205613 A1 WO 2022205613A1 CN 2021098091 W CN2021098091 W CN 2021098091W WO 2022205613 A1 WO2022205613 A1 WO 2022205613A1
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WIPO (PCT)
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deformation
unmanned
landslide
monitoring
coupling
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PCT/CN2021/098091
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English (en)
French (fr)
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张永权
唐辉明
张俊荣
路桂英
李长冬
王倩芸
林成远
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中国地质大学(武汉)
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Publication of WO2022205613A1 publication Critical patent/WO2022205613A1/zh

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/32Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/30Measuring arrangements characterised by the use of mechanical techniques for measuring the deformation in a solid, e.g. mechanical strain gauge
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0025Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of elongated objects, e.g. pipes, masts, towers or railways
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
    • G01M5/0091Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings by using electromagnetic excitation or detection
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • G01S19/14Receivers specially adapted for specific applications
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/20Measuring arrangements characterised by the use of mechanical techniques for measuring contours or curvatures
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00Tracing profiles
    • G01C7/02Tracing profiles of land surfaces

Definitions

  • the invention relates to the technical field of landslide deformation monitoring, in particular to an unmanned landslide lateral deformation monitoring system and method based on inertial measurement technology.
  • Landslide is a common geological disaster in the world, which is listed by the United Nations as one of the important research contents of the "International Decade for Disaster Reduction”. Landslide disasters often bring serious threats to the safety of life and property of residents in landslide areas due to the characteristics of critical suddenness and huge destructive power. It is an effective control method for landslide geological disasters to obtain its deformation characteristics through continuous monitoring and to predict and control them based on this.
  • the monitoring of landslide displacement field includes surface displacement monitoring and deep displacement monitoring.
  • the methods of measuring the relative displacement of the landslide surface include: mechanical measurement method, extensometer method, total station measurement, digital close-up photography and laser displacement method, and laser fiber optic measurement method; the absolute displacement measurement methods of landslide surface include: GPS method, lidar measurement, Synthetic Aperture Interferometer, etc.
  • the deep displacement monitoring mainly adopts the borehole inclination measurement method.
  • the mechanical measurement method is suitable for group measurement and group defense, with poor accuracy and little information.
  • the landslide warning extensometer is suitable for single crack monitoring, the measurement accuracy is improved, the measurement data is small, and professional maintenance is required.
  • Digital close-up photography can carry out dynamic, three-dimensional measurement, and has a high amount of information, but it is affected by vegetation cover on landslides.
  • Laser displacement measurement requires the construction of a reference platform and high measurement accuracy, but it is easily affected by the environment.
  • the development of fiber grating buried measurement is relatively new, and it has obvious advantages in the measurement of rock mass micro-deformation, but it still needs to be developed and improved.
  • the GPS method has high precision, but it can only complete the deformation monitoring of the single point on the ground, and cannot obtain the continuous distribution data of the local deformation of the underground and the ground deformation.
  • Lidar measurements are suitable for rapid data acquisition and analysis over large areas, but need to be based on accurate DEMs.
  • Patents CN 107894239B and CN101051089A provide a kind of underground deformation measurement technology based on inertial technology, which can be applied to accurate measurement of the continuous displacement distribution information in the horizontal direction at any depth in the space of the landslide body, so as to understand the deformation characteristics of the landslide body.
  • Patents CN 107894239B and CN101051089A provide a kind of underground deformation measurement technology based on inertial technology, which can be applied to accurate measurement of the continuous displacement distribution information in the horizontal direction at any depth in the space of the landslide body, so as to understand the deformation characteristics of the landslide body.
  • embodiments of the present invention provide an unmanned landslide lateral deformation monitoring system and method based on inertial measurement technology.
  • An embodiment of the present invention provides an unmanned landslide lateral deformation monitoring system based on inertial measurement technology, including:
  • Deformation coupling pipeline which is arranged in the body of the landslide and located above the sliding surface
  • the unmanned tracker is placed in the deformation coupling pipeline, and the unmanned tracker is provided with an electrically connected battery, a plurality of motor wheels, an inertial sensor and a single-chip microcomputer, and the motor wheel is used for connecting with the deformation
  • the inner side walls of the coupling pipes are in contact with each other, and when the motor wheel is energized, the single-chip microcomputer controls the rotation of the motor wheel to drive the unmanned tracker to move back and forth in the deformation coupling pipe; the unmanned tracker is moving In the process, the single chip microcomputer controls the inertial sensor to measure the shape of the deformation coupling pipe;
  • the two monitoring piers are respectively fixedly connected to both ends of the deformation coupling pipeline.
  • the monitoring piers are provided with GPS equipment and communication equipment.
  • the GPS equipment is used to obtain the position of the monitoring piers in real time.
  • the single-chip microcomputer is communicatively connected, and the single-chip computer obtains the shape of the deformed coupling pipe and sends it to the communication device, and the communication device is used for uploading the shape of the deformed coupling pipe to a network or a mobile terminal.
  • a solar cell is arranged on the monitoring pier, a wireless power transmission coil is wound on the deformation coupling pipe, the solar cell is electrically connected with the wireless power transmission coil, and the unmanned tracker is wound with a wireless power transmission coil.
  • a wireless coupling coil, the wireless power transmitting coil and the wireless coupling coil are wirelessly coupled, and the battery is electrically connected to the wireless coupling coil.
  • an NFC first terminal is arranged on the deformation coupling pipe, and an NFC second terminal is arranged on the unmanned tracker, the NFC first terminal and the NFC second terminal are communicatively connected, and the NFC The first terminal is electrically connected with the communication device, and the NFC second terminal is electrically connected with the single-chip microcomputer.
  • the unmanned tracker includes a hollow cavity, and the inertial sensor and the single-chip microcomputer are fixed in the cavity.
  • the unmanned tracker also includes two connecting rods and a plurality of supporting links, and the two connecting rods extend along the extension direction of the deformation coupling pipe and are respectively fixed at both ends of the cavity.
  • the connecting rods are respectively connected with a plurality of the supporting rods, one end of the supporting rods is fixedly connected with the end of the cavity, and the other end is connected with the end of the connecting rod away from the cavity, each The motor wheel is fixed on the support link.
  • the other end of the support rod is slidably mounted on the connecting rod, and a spring is connected between the other end of the support rod and the end of the connecting rod away from the cavity.
  • two of the monitoring piers are fixed on a stable surface.
  • one of the monitoring piers is fixed on a stable surface, and the other monitoring pier is fixed on the landslide body.
  • two of the monitoring piers are fixed on the landslide body.
  • An embodiment of the present invention also provides a monitoring method, based on the above-mentioned unmanned landslide lateral deformation monitoring system based on inertial measurement technology, comprising the following steps:
  • the rotation of the S4 motor wheel drives the unmanned tracker to move back and forth in the deformation coupling pipeline.
  • the single chip microcomputer controls the inertial sensor and the motor wheel, so as to periodically measure the laid deformation coupling pipeline, and obtain the deformation coupling through GPS equipment positioning and inertial sensor.
  • the shape of the pipeline can be used to obtain the deformation measurement line of the deformation coupled pipeline.
  • the initial measurement line of the deformation coupled pipeline is regarded as the displacement zero point.
  • the deformation measurement line curve of each measurement is subtracted from the initial measurement line curve to obtain The displacement distribution curve of the landslide body along the survey line.
  • the beneficial effects brought about by the technical solutions provided by the embodiments of the present invention are: all-weather, global and full-time work, wide application scenarios, mature technology, reasonable design, and suitable for deformation monitoring of landslide surface, underground and even underwater.
  • the unmanned tracker has high measurement data update rate, good short-term accuracy and stability.
  • Inertial sensors can provide the spatial position, moving speed, direction and spatial attitude data of the monitored object, and the generated measurement information has good continuity and low noise.
  • Monitoring equipment The unmanned design is adopted, which is economical and easy to promote.
  • FIG. 1 is a schematic structural diagram of an embodiment of an unmanned landslide lateral deformation monitoring system based on inertial measurement technology provided by the present invention
  • Fig. 2 is the side view of the unmanned track instrument in Fig. 1;
  • Fig. 3 is the sectional structure diagram of the wireless coupling coil and the battery in Fig. 1;
  • Fig. 4 is a schematic diagram of the layout method of the unmanned landslide lateral deformation monitoring system based on inertial measurement technology in Fig. 1;
  • FIG. 5 is a schematic flowchart of an embodiment of a monitoring method provided by the present invention.
  • an embodiment of the present invention provides an unmanned landslide lateral deformation monitoring system based on inertial measurement technology, including a deformation coupling pipeline 1 , an unmanned tracker 2 and two monitoring piers 15 .
  • the deformation coupling pipeline 1 is arranged in the landslide body 19 and is located above the sliding surface.
  • the deformation coupling pipeline 1 can be buried in the shallow surface of the landslide body 19 by manually excavating a trench, or the deformation coupling pipeline 1 can be laid on the landslide body by drilling.
  • the deformation coupling pipe 1 needs to slide along with the landslide body 19.
  • the deformation coupling pipe 1 should choose a pipe with a small flexural stiffness to avoid the uncoordinated deformation of the pipe-soil coupling and the deformation coupling pipe. 1.
  • PVC steel wire hose, etc. can be used, and the burial place of the deformation coupling pipeline 1 should be selected at a relatively soft place or other soil area that is easier to excavate.
  • the unmanned tracker 2 is placed in the deformation coupling pipeline 1, and the unmanned tracker 2 is provided with an electrically connected battery 25, a plurality of motor wheels 5, an inertial sensor 10, a single-chip microcomputer 9, and the battery 25 provides power supply,
  • the motor wheel 5 is used to counteract the inner side wall of the deformation coupling pipe 1. Since there is friction between the motor wheel 5 and the inner side wall of the deformation coupling pipe 1, when the motor wheel 5 is energized, the single-chip microcomputer 9 controls the The rotation of the motor wheel 5 drives the unmanned tracker 2 to move back and forth in the deformation coupling pipe 1 .
  • the single chip 9 controls the inertial sensor 10 to measure the shape of the deformation coupling pipe 1 , so as to realize the monitoring frequency of the deformation coupling pipe 1 .
  • the two monitoring piers 15 are respectively fixedly connected to both ends of the deformation coupling pipeline 1 .
  • the monitoring piers 15 are provided with a GPS device 13 and a communication device.
  • the GPS device 13 is used to obtain the position of the monitoring pier 15 in real time. That is to monitor the spatial coordinates of the pier 15, the communication device is connected to the single-chip microcomputer 9 for communication, and the single-chip computer 9 obtains the shape of the deformation coupling pipe 1 and sends it to the communication device, and the communication device is used to The shape of the deformed coupling pipe 1 is uploaded to the network or mobile terminal.
  • a solar cell 12 is provided on the monitoring pier 15, a wireless power transmitting coil 3 is wound on the deformation coupling pipe 1, the solar cell 12 is electrically connected with the wireless power transmitting coil 3, and the unmanned A wireless coupling coil 7 is wound on the loci 2 , the wireless power transmitting coil 3 and the wireless coupling coil 7 are wirelessly coupled, and the battery 25 is electrically connected to the wireless coupling coil 7 .
  • the solar cell 12 can absorb the light energy of the solar energy and convert the light energy into electric energy.
  • the wireless power transmission coil 3 and the wireless coupling coil 7 are used to realize the wireless transmission of electric energy through electromagnetic induction, and the electric energy is stored in the battery 25. 9.
  • the inertial sensor 10 and the motor wheel 5 are wirelessly charged, which avoids the complexity and inconvenience of wiring.
  • the unmanned tracker 2 moves back and forth, avoiding the wiring troubles and potential safety hazards caused by wired charging.
  • the deformation coupling pipe 1 is provided with an NFC first terminal 4, and the unmanned tracker 2 is provided with an NFC second terminal 8, which corresponds to the NFC first terminal 4, and the NFC first terminal 4 and the The NFC second terminal 8 is communicatively connected, the NFC first terminal 4 is electrically connected to the communication device, the NFC second terminal 8 and the NFC first terminal 4 can realize near field communication of information, and complete the transmission of monitoring and control information. .
  • the NFC second terminal 8 is electrically connected to the single chip 9
  • the wireless coupling coil 7 is electrically connected to the NFC second terminal 8 , so that the NFC second terminal 8 can be wirelessly charged.
  • the unmanned tracker 2 includes a hollow cavity 11 , the inertial sensor 10 , the single chip 9 and the NFC second terminal 8 are fixed in the cavity 11 , and the wireless coupling coil 7 is wound inside the cavity 11 and corresponds to the wireless power transmitting coil 3 , and the single chip 9 controls the NFC second terminal 8 and the inertial sensor 10 .
  • the motor wheel 5 can be directly fixed on the unmanned tracker 2.
  • the unmanned tracker 2 further includes two connecting rods 22 and a plurality of supporting links 6.
  • the two connecting rods 22 Both extend along the extension direction of the deformation coupling pipe 1 and are respectively fixed on both ends of the cavity 11 .
  • the connecting rods 22 are respectively connected with a plurality of the supporting links 6 , and one end of the supporting links 6 is connected to the two ends of the cavity 11 .
  • the end of the cavity 11 is fixedly connected, and the other end is connected to the end of the connecting rod 22 away from the cavity 11 , and a motor wheel 5 is fixed on each of the support links 6 , which can enhance the unmanned tracker 2 Movement stability.
  • three supporting links 6 are provided at even intervals, and the motor wheel 5 is used to contact and limit the unmanned tracker 2 and the deformation coupling pipeline 1, which can reduce the impact of the unmanned tracker 2 on the deformation coupling pipeline. 1, while enhancing the stability of the movement of the unmanned tracker 2.
  • the other end of the support link 6 is slidably mounted on the connecting rod 22 , and a spring 23 is connected between the other end of the support link 6 and the end of the connecting rod 22 away from the cavity 11 .
  • a collar 24 is sleeved on the connecting rod 22, the other end of the support link 6 is fixedly connected with the collar 24, and one end of the connecting rod 22 away from the cavity 11 protrudes outward to form an annular protrusion 22a.
  • a spring 23 is connected between the ring 24 and the annular protruding portion 22a, and the spring 23 is in a compressed state.
  • the monitoring pier 15 can be provided with a control device, the control device is electrically connected with the solar cell 12, the control device is electrically connected with the wireless power transmission coil 3 and the NFC first terminal 4, the control device is electrically connected with the wireless power transmission coil 3 and the NFC first terminal 4, To control the power supply of the wireless power transmitting coil 3 and the information collection of the NFC first terminal 4 , the communication equipment and the control equipment are installed in the control box 14 .
  • an embodiment of the present invention also provides a monitoring method, see FIG. 5 , including the following steps:
  • S1 Determine the position of the initial survey line 20 of the landslide body 19 based on the previous geological survey data.
  • the determination of the initial survey line 20 includes the depth, elevation, and layout of the landslide body 19. It is necessary to comprehensively consider the geological and topographical conditions and the deformation coupling of the pipeline. Form, displacement distribution measurement purpose and needs.
  • the initial survey line 20 needs to be perpendicular to the sliding direction of the landslide body 19 and is generally located on the surface of the landslide body 19 near the leading edge.
  • the deformation coupling pipeline 1 is arranged in the landslide body 19 along the direction of the initial survey line 20.
  • a trench with a width larger than that of the deformation coupling pipeline 1 is excavated, and the deformation coupling pipeline 1 is unfolded and placed in the trench After finishing and smoothing, cover with soil and bury it.
  • the deformation coupling pipe 1 can be laid in the drill hole after drilling with a drilling rig. After the deformation coupling pipe 1 is buried, the unmanned tracker 2 is placed in One end of the deformation coupling pipe 1.
  • the wireless power transmission coil 3 and the wireless coupling coil 7 are used to realize wireless transmission of electric energy through electromagnetic induction, and the electric energy generated by the solar cell 12 is transferred to the battery 25 for storage, and then the single-chip microcomputer 9, inertial sensor 10 and The motor wheel 25 performs wireless charging, and the control device initializes the monitoring frequency of the unmanned tracker and other information, which is transmitted and stored in the single-chip microcomputer 9 of the unmanned tracker through the cooperation of the NFC first terminal 4 and the NFC second terminal 8 .
  • the battery 25 is energized with the motor wheel 5, and the rotation of the motor wheel 5 drives the unmanned tracker 2 to move back and forth in the deformation coupling pipe 1.
  • the deformation coupling pipeline 1 is periodically measured, and the deformation coupling pipeline and its shape are obtained by positioning the GPS device 13 and the inertial sensor 10, and the deformation measuring line 21 of the deformation coupling pipeline 1 is obtained.
  • the initial survey line 20 of the pipeline 1 is regarded as the displacement zero point.
  • the displacement distribution curve of the landslide body 19 along the survey line can be obtained by subtracting the curve of the initial survey line 20 from the curve of the deformation survey line 21 measured each time.
  • the single-chip microcomputer 9 controls the motor wheel 5 to drive the unmanned tracker 2 to move back and forth in the deformation coupling pipe 1, and the single-chip microcomputer 9 simultaneously controls the inertial sensor 10 to measure the current shape of the deformation coupling pipe 1 as the deformation measuring line 21, which is a single time monitoring process.
  • the GPS device 13 is used for positioning, the inertial sensor 10 obtains the shape of the deformation coupling pipe 1, and the single-chip microcomputer 9 obtains the shape of the deformation coupling pipe 1 and sends it to the communication device.
  • the information measured by the inertial sensor 10 is passed by the single-chip microcomputer 9. The cooperation between the NFC second terminal 8 and the NFC first terminal 4 is transmitted back to the communication device on the monitoring pier 15 .
  • the arrangement of the deformation coupling pipeline 1 includes three types.
  • the deformation coupling pipeline 1 passes through the entire landslide body 19 along the cross section of the landslide body 19 .
  • the ends are outside the boundary of the landslide body 19, the two monitoring piers 15 are fixed on the stable surface, the position of the ends of the deformation coupling pipeline 1 is absolutely fixed, and will not change with the deformation of the deformation coupling pipeline 1, forming a simply supported hinge type 16 .
  • the absolute displacement distribution curve of the landslide body 19 along the survey line direction can be calculated only by aligning the positions of the two end points.
  • one end of the deformation coupling pipe 1 penetrates the boundary of the landslide body 19, and the other end is located in the cantilever beam 17 in the landslide body 19.
  • One of the monitoring piers 15 is fixed on the stable surface, and the other The monitoring pier 15 is fixed on the landslide body 19 and can only be positioned by a single end (GPS monitoring pier 15 ) of the fixed end point outside the boundary of the landslide body 19 , and the accuracy is slightly worse than that of the simply supported hinge type 16 .
  • both ends of the deformation coupling pipe 1 are fixed in the landslide body 19 to form a floating type 18.
  • the two monitoring piers 15 are fixed on the landslide body 19 and can only rely on The local deformation of the landslide body 19 and the relative displacement distribution curve based on the position of the two end points are the worst for the monitoring effect of the landslide body 19 .
  • the technical solution provided by the invention can work all-weather, global and full-time, has wide application scenarios, mature technology and reasonable design, and is suitable for deformation monitoring of landslide surface, underground and even underwater.
  • the unmanned tracker 2 has a high update rate of measurement data, good short-term accuracy and stability, and the inertial sensor 10 can provide the spatial position, moving speed, direction and spatial attitude data of the monitored object, and the generated measurement information has good continuity and low noise.
  • the monitoring equipment adopts unmanned design, which is economical and easy to promote.
  • the solar cell 12 is used for power collection, storage and supply of the entire system, and can obtain power in an energy-saving and environmentally friendly manner, and can also charge the unmanned tracker 2 in a wireless charging manner.

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Abstract

一种基于惯性测量技术的无人式滑坡横向变形监测***及方法,变形耦合管道(1)布设于滑坡体(19)内,无人式轨迹仪(2)内设有电连接的电池(25)、电机轮(5)、单片机(9)、惯性传感器(10),单片机(9)控制电机轮(5)带动无人式轨迹仪(2)在变形耦合管道(1)内来回移动;单片机(9)控制惯性传感器(10)测量变形耦合管道(1)的形状,两个监测墩(15)分别位于变形耦合管道(1)两端,监测墩(15)上设有GPS设备(13)和通讯设备,通讯设备与单片机(9)通讯连接,单片机(9)获取变形耦合管道(1)的形状并发送至通讯设备。由此产生的有益效果是:可全天候、全球、全时间地工作,应用场景广泛,技术成熟,设计合理,适用于滑坡地表、地下乃至水下的变形监测,无人式轨迹仪(2)测量数据更新率高、短期精度和稳定性好。

Description

基于惯性测量技术的无人式滑坡横向变形监测***及方法 技术领域
本发明涉及滑坡变形监测技术领域,尤其涉及一种基于惯性测量技术的无人式滑坡横向变形监测***及方法。
背景技术
滑坡是一种全球范围内常见的地质灾害,被***列为“国际减灾十年”的重要研究内容之一。由于滑坡灾害具有临界突发性、破坏力巨大等特点,常常给滑坡区居民的生命财产安全带来严重威胁。持续监测获得其变形特征并以此为基础来预测、治理是滑坡地质灾害的有效控制手段。
滑坡位移场的监测包括地表位移监测和深部位移监测。滑坡地表相对位移测量的方法有:机械测量法、伸缩计法、全站仪测量、数字化近景摄影和激光位移法、激光光纤测量法;滑坡地表绝对位移测量方法有:GPS法、激光雷达测量、合成孔径干涉仪法等。深部位移监测主要采用钻孔倾斜测量法。机械测量法适用于群测群防,精度差、信息量少。滑坡预警伸缩仪适用于单一裂缝监测、测量精度提高、测量数据少且需要专业人员维护。数字化近景摄影能够进行动态、三维测量,信息量高,但受滑坡上覆盖植被影响。激光位移测量需要建设基准平台、测量精度高,但易受环境影响。光纤光栅埋设测量发展较新,在岩体微变形的测量上具有明显优势,但是仍需发展完善。GPS法精度高,但只能完成地表单点的变形监测,无法获得地下局部变形和地面变形连续分布数据。激光雷达测量法适用于快速对大范围区域进行数据采集和分析,但需要基于精确的DEM。钻孔倾斜测量法测量结果精确,然而也存在管-土耦合误差以及测量耗时长、测量对 象为垂向位移分布的限制。专利CN 107894239B和CN101051089A提供了一类基于惯性技术的地下变形测量技术,该类技术可应用于滑坡体空间任意深度水平方向连续位移分布信息的精确测量,并借此了解滑坡体变形特征。但是存在需要人工定期操作以及充电的局限性,使用麻烦,操作复杂。因此,基于此类技术,发展无人操作的一种滑坡体内任意空间布设,并自动持续稳定获得滑坡体内部水平向位移变化数据的方法,对滑坡工程防治、机理研究、预测预报等都具有重要的工程意义与实际价值。
发明内容
有鉴于此,为解决上述问题,本发明的实施例提供了一种基于惯性测量技术的无人式滑坡横向变形监测***及方法。
本发明的实施例提供一种基于惯性测量技术的无人式滑坡横向变形监测***,包括:
变形耦合管道,布设于滑坡体内,且位于滑动面上方;
无人式轨迹仪,放置于所述变形耦合管道内,所述无人式轨迹仪上设有电连接的电池、多个电机轮、惯性传感器和单片机,所述电机轮用于与所述变形耦合管道内侧壁相抵,所述电机轮通电时,所述单片机控制所述电机轮转动,带动所述无人式轨迹仪在所述变形耦合管道内来回移动;所述无人式轨迹仪在移动过程中,所述单片机控制所述惯性传感器测量所述变形耦合管道的形状;
两个监测墩,分别与所述变形耦合管道两端固定连接,所述监测墩上设有GPS设备和通讯设备,所述GPS设备用于实时获取所述监测墩的位置,所述通讯设备与所述单片机通讯连接,所述单片机获取所述变形耦合管道的形状并发送至所述通讯设备,所述通讯设备用于将所述变形耦合管道的形状上传网络或移动终端。
进一步地,所述监测墩上设有太阳能电池,所述变形耦合管道上缠绕 有无线电源发射线圈,所述太阳能电池与所述无线电源发射线圈电连接,所述无人式轨迹仪上缠绕有无线耦合线圈,所述无线电源发射线圈和所述无线耦合线圈无线耦合,所述电池与所述无线耦合线圈电连接。
进一步地,所述变形耦合管道上设有NFC第一终端,所述无人式轨迹仪上设有NFC第二终端,所述NFC第一终端和所述NFC第二终端通讯连接,所述NFC第一终端与所述通讯设备电连接,所述NFC第二终端与所述单片机电连接。
进一步地,所述无人式轨迹仪包括呈中空设置的腔体,所述惯性传感器和所述单片机固定于所述腔体内。
进一步地,所述无人式轨迹仪还包括两个连接杆和多个支撑连杆,两个所述连接杆均沿所述变形耦合管道的延伸方向延伸,分别固定于所述腔体两端,所述连接杆上分别连接有多个所述支撑连杆,所述支撑连杆一端与所述腔体端部固定连接,另一端与所述连接杆远离所述腔体的一端连接,各所述支撑连杆上固定有所述电机轮。
进一步地,所述支撑连杆另一端滑动安装于所述连接杆上,所述支撑连杆另一端与所述连接杆远离所述腔体的一端之间连接有弹簧。
进一步地,两个所述监测墩固定于稳固地表上。
进一步地,其中一所述监测墩固定于稳固地表上,另一所述监测墩固定于所述滑坡体上。
进一步地,两个所述监测墩固定于所述滑坡体上。
本发明的实施例还提供一种监测方法,基于上述基于惯性测量技术的无人式滑坡横向变形监测***,包括以下步骤:
S1基于前期地质勘查资料,确定滑坡体初始测线的位置;
S2沿着初始测线方向将变形耦合管道布设于滑坡体内,将无人式轨迹仪放置于变形耦合管道一端;
S3在变形耦合管道两侧建造监测墩,变形耦合管道两端与监测墩固定 连接;
S4电机轮转动带动无人式轨迹仪在变形耦合管道内来回移动,单片机对惯性传感器和电机轮进行控制,从而对所布设的变形耦合管道进行定期测量,通过GPS设备定位和惯性传感器获取变形耦合管道的形状,得到变形耦合管道的变形测线,将变形耦合管道的初始测线视为位移零点,在后续监测过程中,把每次测量的变形测线曲线减去初始测线曲线即可获得滑坡体沿测线方向的位移分布曲线。
本发明的实施例提供的技术方案带来的有益效果是:可全天候、全球、全时间地工作,应用场景广泛,技术成熟,设计合理,适用于滑坡地表、地下乃至水下的变形监测。无人式轨迹仪测量数据更新率高、短期精度和稳定性好,惯性传感器可以提供监测对象的空间位置、移速移向和空间姿态数据,产生的测量信息连续性好而且噪声低,监测设备采用无人式设计,经济性好,便于推广。
附图说明
图1是本发明提供的基于惯性测量技术的无人式滑坡横向变形监测***一实施例的结构示意图;
图2是图1中无人式轨迹仪的侧视图;
图3是图1中无线耦合线圈和电池的剖面结构图;
图4是图1中基于惯性测量技术的无人式滑坡横向变形监测***布设方法示意图;
图5是是本发明提供的监测方法一实施例的流程示意图。
图中:1-变形耦合管道、2-无人式轨迹仪、3-无线电源发射线圈、4-NFC第一终端、5-电机轮、6-支撑连杆、7-无线耦合线圈、8-NFC第二终端、9-单片机、10-惯性传感器、11-腔体、12-太阳能电池、13-GPS设备、14-控制盒、15-监测墩、16-简支铰链式、17-悬臂梁式、18-浮动式、19-滑坡体、20- 初始测线、21-变形测线、22-连接杆、22a-环形凸伸部、23-弹簧、24-套环、电池25。
具体实施方式
为使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明实施方式作进一步地描述。
请参见图1至图4,本发明的实施例提供一种基于惯性测量技术的无人式滑坡横向变形监测***,包括变形耦合管道1、无人式轨迹仪2以及两个监测墩15。
变形耦合管道1布设于滑坡体19内,且位于滑动面上方,可人工开挖沟堑将变形耦合管道1埋设于滑坡体19浅表,或以钻孔方式将变形耦合管道1布设于滑坡体19深部,滑坡体19出现滑动过程中,变形耦合管道1需跟随滑坡体19一起滑动,变形耦合管道1应选择挠曲刚度较小的管材,以避免管-土耦合变形不协调,变形耦合管道1可选用PVC钢丝软管等,变形耦合管道1的埋设处应选择较为松软处或其他较易开挖土质区域。
无人式轨迹仪2放置于所述变形耦合管道1内,所述无人式轨迹仪2上设有电连接的电池25、多个电机轮5、惯性传感器10、单片机9,电池25供电,所述电机轮5用于与所述变形耦合管道1内侧壁相抵,由于电机轮5与变形耦合管道1内侧壁之间具有摩擦力,所述电机轮5通电时,所述单片机9控制所述电机轮5转动,带动所述无人式轨迹仪2在所述变形耦合管道1内来回移动。所述无人式轨迹仪2在移动过程中,所述单片机9控制所述惯性传感器10测量所述变形耦合管道1的形状,以实现对变形耦合管道1的监测频率。
两个监测墩15分别与所述变形耦合管道1两端固定连接,所述监测墩15上设有GPS设备13和通讯设备,所述GPS设备13用于实时获取所述监测墩15的位置,即监测墩15的空间坐标,所述通讯设备与所述单片机9 通讯连接,所述单片机9获取所述变形耦合管道1的形状并发送至所述通讯设备,所述通讯设备用于将所述变形耦合管道1的形状上传网络或移动终端。
进一步地,所述监测墩15上设有太阳能电池12,所述变形耦合管道1上缠绕有无线电源发射线圈3,所述太阳能电池12与所述无线电源发射线圈3电连接,所述无人式轨迹仪2上缠绕有无线耦合线圈7,所述无线电源发射线圈3和所述无线耦合线圈7无线耦合,所述电池25与所述无线耦合线圈7电连接。太阳能电池12可以吸收太阳能的光能并将光能转化为电能,利用无线电源发射线圈3和无线耦合线圈7,通过电磁感应实现电能的无线传输,将电能存储于电池25内,进而可以对单片机9、惯性传感器10和电机轮5进行无线充电,避免了布线的复杂和不便,无人式轨迹仪2在来回移动中,避免了有线充电带来的布线麻烦以及存在的安全隐患的问题。
所述变形耦合管道1上设有NFC第一终端4,所述无人式轨迹仪2上设有NFC第二终端8,且与NFC第一终端4对应,所述NFC第一终端4和所述NFC第二终端8通讯连接,所述NFC第一终端4与所述通讯设备电连接,NFC第二终端8与NFC第一终端4可实现信息的近场通讯,完成监测与控制信息的传递。所述NFC第二终端8与所述单片机9电连接,所述无线耦合线圈7和所述NFC第二终端8电连接,可以对NFC第二终端8进行无线充电。
具体的,所述无人式轨迹仪2包括呈中空设置的腔体11,所述惯性传感器10、所述单片机9和NFC第二终端8固定于所述腔体11内,所述无线耦合线圈7缠绕于所述腔体11内部、且与无线电源发射线圈3对应,单片机9对NFC第二终端8和惯性传感器10进行控制。
电机轮5可直接固定于无人式轨迹仪2上,本实施例中,所述无人式轨迹仪2还包括两个连接杆22和多个支撑连杆6,两个所述连接杆22均沿所述变形耦合管道1的延伸方向延伸,分别固定于所述腔体11两端,所述 连接杆22上分别连接有多个所述支撑连杆6,所述支撑连杆6一端与所述腔体11端部固定连接,另一端与所述连接杆22远离所述腔体11的一端连接,各所述支撑连杆6上固定有电机轮5,可增强无人式轨迹仪2移动的稳定性。具体的,支撑连杆6设有三个且均匀间隔设置,无人式轨迹仪2和变形耦合管道1之间通过电机轮5接触与限位,可减小无人式轨迹仪2在变形耦合管道1内移动的摩擦力,同时增强无人式轨迹仪2移动的稳定性。
所述支撑连杆6另一端滑动安装于所述连接杆22上,所述支撑连杆6另一端与所述连接杆22远离所述腔体11的一端之间连接有弹簧23。本实施例中,连接杆22上套设有套环24,支撑连杆6另一端与套环24固定连接,连接杆22远离腔体11的一端向外凸伸形成环形凸伸部22a,套环24和环形凸伸部22a之间连接有弹簧23,弹簧23处于压缩状态,由于弹簧23的回复作用对支撑连杆6施以推力,可使得电机轮5与变形耦合管道1内侧壁紧贴。由于支撑连杆6另一端可在连接杆22上滑动,可调节电机轮5与连接杆22之间的距离,从而可适用于不同管径的变形耦合管道1。
监测墩15上可设有控制设备,控制设备与太阳能电池12电连接,控制太阳能电池12与无线电源发射线圈3的供电配合,控制设备与无线电源发射线圈3、NFC第一终端4电连接,控制无线电源发射线圈3的供电与NFC第一终端4的信息采集,通讯设备和控制设备均安装于控制盒14内。
基于上述基于惯性测量技术的无人式滑坡横向变形监测***,本发明的实施例还提供一种监测方法,请参见图5,包括以下步骤:
S1基于前期地质勘查资料,确定滑坡体19初始测线20的位置,初始测线20位置的确定包括位于滑坡体19的深度、高程、布设方式等,需要综合考虑地质地形条件、管道的变形耦合形式、位移分布测量目的和需求。初始测线20需要垂直于滑坡体19滑动方向,且一般位于滑坡体19表面靠近前缘位置。
S2沿着初始测线20方向将变形耦合管道1布设于滑坡体19内,当埋 设于浅表时,开挖出宽度大于变形耦合管道1的沟槽,把变形耦合管道1展开放置于沟槽内,整理平顺后再覆土掩埋,当埋设于深部时,可利用钻机钻孔后,将变形耦合管道1布设于钻孔内,变形耦合管道1埋设完毕后,将无人式轨迹仪2放置于变形耦合管道1一端。
S3在变形耦合管道1两侧建造监测墩15,变形耦合管道1两端与监测墩15固定连接,监测墩15的材质为混凝土,混凝土桩底部埋深应当足以提供稳定变形耦合管道1两端不移动的抗力。
S4监测前,利用无线电源发射线圈3和无线耦合线圈7,通过电磁感应实现电能的无线传输,将太阳能电池12产生的电能传递至电池25中进行存储,进而可以对单片机9、惯性传感器10和电机轮25进行无线充电,控制设备初始化无人轨迹仪的监测频率等信息,通过NFC第一终端4与NFC第二终端8配合传递并储存在无人轨迹仪的单片机9中。
监测开始后,电池25与电机轮5通电,电机轮5转动带动无人式轨迹仪2在变形耦合管道1内来回移动,单片机9对惯性传感器10和电机轮5进行控制,从而对所布设的变形耦合管道1进行定期测量,通过GPS设备13定位和惯性传感器10获取变形耦合管道和形状,得到变形耦合管道1的变形测线21,每次测量需重复多次后取平均值,将变形耦合管道1的初始测线20视为位移零点,在后续监测过程中,把每次测量的变形测线21曲线减去初始测线20曲线即可获得滑坡体19沿测线方向的位移分布曲线。具体的,单片机9控制电机轮5驱动无人式轨迹仪2在变形耦合管道1中来回移动一次,单片机9同时控制惯性传感器10测量变形耦合管道1的当前形状作为变形测线21,此为一次监测过程。利用GPS设备13定位、惯性传感器10获取变形耦合管道1的形状,单片机9获取变形耦合管道1的形状并发送至所述通讯设备,本实施例中,惯性传感器10测得的信息被单片机9通过NFC第二终端8与NFC第一终端4的配合传递回监测墩15上的通讯设备中,通讯设备将变形耦合管道1的形状上传网络或移动终端, 得到变形耦合管道1的变形测线21。
请参见图2,变形耦合管道1的布置方式包括三种,滑坡体19两侧均有稳固地表时,变形耦合管道1沿着滑坡体19横剖面穿过整个滑坡体19,变形耦合管道1两端头处于滑坡体19界外,两个所述监测墩15固定于稳固地表上,变形耦合管道1端头位置绝对固定,不会随着变形耦合管道1的变形而改变,形成简支铰链式16。运用分时测量变形耦合管道1形状计算位移时,只需对齐两端点位置便可计算出滑坡体19沿测线方向的绝对位移分布曲线。
滑坡体19只有一侧有稳固地表时,变形耦合管道1一端贯穿滑坡体19边界,另一端位于滑坡体19内的悬臂梁式17,其中一所述监测墩15固定于稳固地表上,另一所述监测墩15固定于所述滑坡体19上,只能通过滑坡体19界外的固定端点单端(GPS监测墩15)定位,精度较简支铰链式16的双端定位稍差。
当滑坡体内形成更小的滑坡体19时,变形耦合管道1两端皆固定于滑坡体19内,形成浮动式18,两个所述监测墩15固定于所述滑坡体19上,只能依赖滑坡体19局部的变形和两端点位置为基准的相对位移分布曲线,对于滑坡体19的监测效果最差。
本发明提供的技术方案,可全天候、全球、全时间地工作,应用场景广泛,技术成熟,设计合理,适用于滑坡地表、地下乃至水下的变形监测。无人式轨迹仪2测量数据更新率高、短期精度和稳定性好,惯性传感器10可以提供监测对象的空间位置、移速移向和空间姿态数据,产生的测量信息连续性好而且噪声低,监测设备采用无人式设计,经济性好,便于推广。
太阳能电池12用于整个***的用电采集、储存与供给,可以通过节能环保的方式获取电能,还可以以无线充电方式对无人式轨迹仪2进行充电。
在本文中,所涉及的前、后、上、下等方位词是以附图中零部件位于图中以及零部件相互之间的位置来定义的,只是为了表达技术方案的清楚 及方便。应当理解,所述方位词的使用不应限制本申请请求保护的范围。
在不冲突的情况下,本文中上述实施例及实施例中的特征可以相互结合。
以上所述仅为本发明的较佳实施例,并不用以限制本发明,凡在本发明的精神和原则之内,所作的任何修改、等同替换、改进等,均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,包括:
    变形耦合管道,布设于滑坡体内,且位于滑动面上方;
    无人式轨迹仪,放置于所述变形耦合管道内,所述无人式轨迹仪上设有电连接的电池、多个电机轮、惯性传感器和单片机,所述电机轮用于与所述变形耦合管道内侧壁相抵,所述电机轮通电时,所述单片机控制所述电机轮转动,带动所述无人式轨迹仪在所述变形耦合管道内来回移动;所述无人式轨迹仪在移动过程中,所述单片机控制所述惯性传感器测量所述变形耦合管道的形状;
    两个监测墩,分别与所述变形耦合管道两端固定连接,所述监测墩上设有GPS设备和通讯设备,所述GPS设备用于实时获取所述监测墩的位置,所述通讯设备与所述单片机通讯连接,所述单片机获取所述变形耦合管道的形状并发送至所述通讯设备,所述通讯设备用于将所述变形耦合管道的形状上传网络或移动终端。
  2. 如权利要求1所述的基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,所述监测墩上设有太阳能电池,所述变形耦合管道上缠绕有无线电源发射线圈,所述太阳能电池与所述无线电源发射线圈电连接,所述无人式轨迹仪上缠绕有无线耦合线圈,所述无线电源发射线圈和所述无线耦合线圈无线耦合,所述电池与所述无线耦合线圈电连接。
  3. 如权利要求1所述的基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,所述变形耦合管道上设有NFC第一终端,所述无人式轨迹仪上设有NFC第二终端,所述NFC第一终端和所述NFC第二终端通讯连接,所述NFC第一终端与所述通讯设备电连接,所述NFC第二终端与所述单片机电连接。
  4. 如权利要求1所述的基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,所述无人式轨迹仪包括呈中空设置的腔体,所述惯性传感器和所述单片机固定于所述腔体内。
  5. 如权利要求4所述的基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,所述无人式轨迹仪还包括两个连接杆和多个支撑连杆,两个所述连接杆均沿所述变形耦合管道的延伸方向延伸,分别固定于所述腔体两端,所述连接杆上分别连接有多个所述支撑连杆,所述支撑连杆一端与所述腔体端部固定连接,另一端与所述连接杆远离所述腔体的一端连接,各所述支撑连杆上固定有所述电机轮。
  6. 如权利要求5所述的基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,所述支撑连杆另一端滑动安装于所述连接杆上,所述支撑连杆另一端与所述连接杆远离所述腔体的一端之间连接有弹簧。
  7. 如权利要求1所述的基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,两个所述监测墩固定于稳固地表上。
  8. 如权利要求1所述的基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,其中一所述监测墩固定于稳固地表上,另一所述监测墩固定于所述滑坡体上。
  9. 如权利要求1所述的基于惯性测量技术的无人式滑坡横向变形监测***,其特征在于,两个所述监测墩固定于所述滑坡体上。
  10. 一种监测方法,其特征在于,基于如权利要求1至9任意一项所述的基于惯性测量技术的无人式滑坡横向变形监测***,包括以下步骤:
    S1基于前期地质勘查资料,确定滑坡体初始测线的位置;
    S2沿着初始测线方向将变形耦合管道布设于滑坡体内,将无人式轨迹仪放置于变形耦合管道一端;
    S3在变形耦合管道两侧建造监测墩,变形耦合管道两端与监测墩固定连接;
    S4电机轮转动带动无人式轨迹仪在变形耦合管道内来回移动,单片机对惯性传感器和电机轮进行控制,从而对所布设的变形耦合管道进行定期测量,通过GPS设备定位和惯性传感器获取变形耦合管道的形状,得到变形耦合管道的变形测线,将变形耦合管道的初始测线视为位移零点,在后续监测过程中,把每次测量的变形测线曲线减去初始测线曲线即可获得滑坡体沿测线方向的位移分布曲线。
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