CN108917638B - On-vehicle measuring device of three-dimensional deformation monitoring of subway tunnel based on benchmark transmission - Google Patents
On-vehicle measuring device of three-dimensional deformation monitoring of subway tunnel based on benchmark transmission Download PDFInfo
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Abstract
The invention belongs to the technical field of three-dimensional detection of subway tunnels, and discloses a vehicle-mounted measuring device for three-dimensional deformation monitoring of subway tunnels based on reference transmission, wherein a laser range finder, an inclination angle sensor, a high-precision rotating table and a PLC (programmable logic controller) are integrated together to be used for a high-speed ranging, angle measuring and rotatable laser ranging system; measuring the profile of the tunnel section in a discrete multipoint mode; and simultaneously, a photoelectric encoder arranged on a tunnel detection vehicle bottom ranging wheel is combined to obtain the fixed displacement between the initial position and the driving position of the detection vehicle along the axis direction of the tunnel, a program is triggered, and the detected data at the specific position in the tunnel is transmitted to an upper computer through a wireless communicator. The invention breaks through in the aspect of practical technical innovation of the on-line monitoring of the tunnel structure safety, lays a foundation for forming a technical system of the reliability design, analysis, test and evaluation of the rail transit facility, and has practicability in various fields.
Description
Technical Field
The invention belongs to the technical field of three-dimensional detection of subway tunnels, and particularly relates to a vehicle-mounted measuring device for monitoring three-dimensional deformation of a subway tunnel based on reference transmission.
Background
Currently, the current state of the art commonly used in the industry is as follows:
Deformation monitoring is a novel high-tech technology, and different measuring methods exist. Photogrammetry techniques are mainly directed to large area deformation monitoring, such as large-scale special measurements of tunnel construction planes. The tunnel ground is subjected to accurate analysis measurement and intelligent technical analysis by utilizing a digital close-range photogrammetry technology and a laser scanning form, and the deformation condition of the ground during tunnel construction is comprehensively counted.
The tunnel convergence monitoring method is suitable for monitoring and measuring the tunnel with a large section, but the technology is complex and the operation is inconvenient because the required equipment is too large, such as a platform truck and the like. In the construction process, if the tunnel is displaced, the displacement is divided into two cases of 'surface subsidence displacement' and 'tunnel periphery displacement'. And firstly, monitoring the displacement of the subsidence of the earth surface. The monitoring measurement points are buried in the tunnel entrance section of the tunnel and used for observing deformation conditions of subsidence of the earth surface during construction, generally three about level base points are set, monitoring data of the points are synthesized for analysis, and the subsidence amount of the earth surface is calculated. And secondly, the peripheral displacement of the tunnel. The monitoring measurement points and the level base points are generally arranged on two side walls of the tunnel, and the convergence condition of the tunnel section around the whole tunnel is monitored.
Subway is the short name of subway traffic, belongs to the track traffic trade. The subway adopts a tunnel digging underground and a transportation mode of traction by a rail electric locomotive, so that passengers can conveniently build a station entrance and a station exit on the ground at intervals, the subway generally does not occupy the land and the space of the city, does not form environmental pollution to the ground, and can provide a good environment for the passengers to avoid the noisy environment of the city. The subway is an independent rail traffic system, and the normal operation of the subway is not influenced by the congestion of a ground road, so that passengers can be transported quickly, safely and comfortably. The rail transit is the main stream and direction of modern urban traffic, has large traffic volume, high speed, small interference and low energy consumption, is known as the aorta of the modern city, is a remarkable sign of the urban integration into the international large-city modern traffic, is not only a powerful presentation of national force and science and technology level, but also is the most effective way for solving the shortage of the large-city traffic.
Safety problems during shield tunnel construction and subway operation are mainly represented in the following aspects: softening a soft soil layer lying below the tunnel under the action of long-term vibration load to cause sedimentation; tunnel deformation is caused by tunnel adjacent building construction activities; the soil and water loss of the lying soil layer under the interval tunnel causes destructive longitudinal deformation; the tunnel passes through the areas with different soil properties, and the differential of physical and mechanical properties of soil bodies causes uneven settlement of the tunnel structure under the action of long-term load; uneven settlement of the soft soil shield tunnel causes pipe piece joint opening, subway track bed and pipe piece stripping cracking, and part of the positions are subject to water leakage, mud generation and local damage, so that the normal use of the tunnel and subway operation are affected.
Health monitoring of tunnels can be divided into two phases: a construction stage and an operation stage. At present, the monitoring technology for the tunnel construction stage at home and abroad is mature, but the monitoring importance degree during the tunnel operation period is far from enough. In fact, the health monitoring of tunnels should be emphasized because of large time span, complex influencing factors and large disaster social influence in the operation stage. The tunnel health monitoring comprises tunnel structure erosion monitoring, structure deformation monitoring, structural internal force monitoring and environmental condition monitoring, and is particularly important in structure deformation monitoring, wherein the monitoring content mainly comprises longitudinal settlement, transverse displacement and convergence deformation of a section of a tunnel.
At present, the subway lines with thousands of kilometers are opened in China, the subway lines which are being built and planned are large in scale, and the high density of subway population and the high risk of accidents once happen are set as the subway safety problem. In the subway construction and operation process, the section deformation of the tunnel is an important factor influencing the safety of the subway tunnel, and when the section deformation of the tunnel exceeds a certain value, the risks such as collapse and the like can occur.
In summary, the problems of the prior art are:
1) Monitoring efficiency is low: for the detection of longitudinal settlement, transverse displacement and cross section convergence deformation of a tunnel, the traditional monitoring is carried out in a manual periodic monitoring mode, and due to the fact that the observation time is long, the observation period and the frequency are limited, and the method is not suitable for being used in a tunnel operation state.
Meanwhile, along with the improvement of analysis requirements, the health monitoring system in the tunnel operation period needs to have the functions of long-term online and real-time automatic monitoring, and the like, and the existing monitoring modes and means can not meet engineering requirements due to the fact that the monitoring projects are more, the lines are long, the measuring points are more and the data quantity is large.
2) The monitoring cost is high: in the traditional subway tunnel monitoring, professional tunnels or subway operators need to reach each monitoring point in a non-operation period of a subway vehicle, detection equipment is erected, each point on each tunnel section is measured according to a standard detection program, the distance z from the starting point of the tunnel section and the distance and angle between each point on the tunnel section and the center of a rail (or the position of a range finder) are recorded, and then the information is converted into absolute three-bit data (x, y, z) describing the whole subway space. Therefore, the labor input cost of the monitoring engineering is high, and the labor intensity of technicians is also high. Since the device requires multiple movement handling and calibration, the extra loss of the device and the sensor is large, and the corresponding equipment expenditure is also large. Overall, this results in high monitoring costs.
3) The monitoring precision is poor: the method and the instrument for monitoring and using the subway tunnel in early stage are mostly classical ground measurement methods and classical instruments such as level gauge, theodolite and the like. With the development and technical progress of the age, corresponding monitoring technologies are also rapidly developed, and some new monitoring technologies are presented. Such as a multi-sensor displacement monitoring technology based on a static level, a displacement monitoring technology based on a basite convergence system, a displacement monitoring technology based on a fixed automatic inclinometer, a ground photogrammetry technology and the like, which improve the convenience, rapidity and accuracy of measurement to a certain extent, but still have difficulty in meeting the monitoring requirements of modern subway construction and completion. Such as accuracy at the centimeter level, and tunnel monitoring at or below mm. Some monitoring technologies require that a sensor array be installed on the tunnel cross section, which has a certain damage to the tunnel, and the long-term reliability of the installation structure of the sensor itself also affects the monitoring accuracy.
4) The informatization integration degree is low: the trend in subway tunnel monitoring should be toward automation, informatization and intelligence. At present, the monitoring automation degree is not high, the data integration is incomplete, the information island phenomenon is presented, a great deal of skilled technical personnel are needed to participate in the judgment of the track health condition, and the intelligent and intelligent functions are not enough. Because different device equipment and data exchange platforms are adopted respectively, the information between the device equipment and the data exchange platform is difficult to effectively transfer and share. The traffic information resources are scattered, the segmentation situation is serious, and the information island phenomenon is obvious. So that the departments lack of cooperative operation, the complementary advantages cannot be realized, and the special situations cannot be effectively treated in time.
Difficulty and meaning for solving the technical problems:
The difficulty in solving the technical problems is as follows: with the technical development, some researches in academia and engineering world have been focused, some solutions are partially achieved, and some targeted schemes are proposed, but due to the complexity and the specificity of three-dimensional deformation monitoring of the subway tunnel, the problems are not solved systematically.
The significance brought after the technical problems are solved is as follows: the invention reduces artificial subjectivity factors as much as possible, and utilizes high-precision equipment to monitor continuously or periodically. The labor input cost of monitoring engineering is greatly reduced, the labor intensity of technicians is reduced, and the working efficiency is improved. Meanwhile, real-time monitoring which cannot be achieved by traditional manual monitoring is achieved, and the effectiveness and reliability of monitoring data are improved. The three-dimensional deformation monitoring is realized by adopting modern instrument measurement, so that the functions of an early detection instrument are reserved and upgraded. If the rotating motor drives the device, the device can automatically and continuously track target measurement without manual operation, and the device has a programming function, can program and preset a preset target, and realizes automatic operation. The method improves the informatization of three-dimensional deformation monitoring of the subway tunnel, is based on intelligent information acquisition of a sensor, is based on digital processing of signals and information, and is based on a full networking platform capable of realizing full interconnection of people, machines and objects, and is used as an information exchange and resource sharing platform to realize the control and management process intellectualization of the three-dimensional deformation monitoring of the rail.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a vehicle-mounted measuring device for monitoring three-dimensional deformation of a subway tunnel based on reference transmission.
The invention is realized in such a way that a vehicle-mounted measuring device for monitoring three-dimensional deformation of a subway tunnel based on reference transmission comprises:
the device comprises a laser range finder, an inclination angle sensor, a high-precision rotary table, a photoelectric encoder, a PLC (programmable logic controller) and a wireless communicator;
the laser range finders and the inclination angle sensors are all arranged on the high-precision rotating table;
the high-precision rotary table is fixed on the main body of the measuring vehicle through a bracket;
the photoelectric encoder is arranged on a vehicle bottom ranging wheel of the measuring vehicle main body, the PLC controller is arranged on one side of the measuring vehicle main body, and the wireless communicator is arranged on the upper part of the measuring vehicle main body;
the laser distance measuring instrument, the inclination angle sensor, the high-precision rotating table and the PLC are integrated together to be used for a high-speed distance measuring, angle measuring and rotatable laser distance measuring system; measuring the profile of the tunnel section in a discrete multipoint mode;
the laser ranging system is combined with the photoelectric encoder to obtain the fixed displacement between the initial position and the driving position of the detection vehicle along the axis direction of the tunnel, triggers a program built in the PLC controller, and transmits the detected data at the specific position in the tunnel to the upper computer through the wireless communicator;
The vehicle-mounted measuring device for monitoring three-dimensional deformation of the subway tunnel based on reference transmission further comprises: station data processing systems positioned at two ends of the tunnel section are used for analyzing and processing, obtaining the outline of the tunnel detection section and fitting; the station-level data processing system adopts a distributed intelligent network to detect the relative displacement of adjacent sections, and obtains the absolute displacement of each monitoring section through the transmission of a positioning reference;
Monitoring and analyzing the deformation of the tunnel section by using a laser range finder; and (5) carrying out early warning on the deformation state of the tunnel through analyzing the displacement and the change trend.
The invention further aims to provide a subway tunnel three-dimensional deformation monitoring and early warning method based on reference transmission, which comprises the following steps:
1) The vehicle-mounted measuring device for carrying out tunnel deformation of reference transmission; establishing geometrical configuration of a laser measurement sensor network for a tunnel structure in a track operation environment, and carrying out tunnel deformation detection and positioning reference transmission;
establishing a transmission mechanism of the measured data and a station-level data processing system, and constructing a theoretical model of tunnel three-dimensional measurement;
The longitudinal positioning system of the integrated detection vehicle is used for carrying out the position of each measurement section in the tunnel and judging the accurate distance between the measurement section and the measurement starting position;
Establishing an integration scheme and key parameter matching of a laser ranging system, a data transmission system, a vehicle-mounted positioning system and a real-time data acquisition and feedback system; performing detection error analysis, contour comparison and early warning fault treatment;
2) And (3) collecting and analyzing tunnel section measurement data:
performing multi-sensor system calibration, sensor self-stabilization system, sensor network configuration, laser ranging system synchronization, multi-sensor mass data transmission and storage, multi-sensor data fusion processing, tunnel deformation analysis and early warning release, and constructing a data transmission mechanism of real-time interaction between a section relative position data field and a station monitoring computer; the station monitoring system configures and modifies software parameters of each integrated tunnel section deformation detection school bus through each communication interface software;
3) And (3) detecting deformation of the tunnel section:
Integrating a section deformation measuring instrument into a vehicle-mounted integrated system; performing section deformation measurement, vibration reduction support detection, a longitudinal positioning system, detection control and data preprocessing; the vehicle-mounted integrated system is communicated with the upper computer through a wireless network;
4) And storing, analyzing and releasing tunnel deformation information to form a tunnel deformation early warning mechanism.
Further, step 4) includes:
establishing a space database to store and release tunnel deformation information;
Collecting and fusion analyzing data of multiple sensors, and carrying out three-dimensional dynamic modeling on a tested tunnel; and generating an early warning report through analyzing historical data of each observation point.
Further, step 1) of determining the accurate distance of the measured section from the measurement start position includes:
The laser range finder is arranged on the detection vehicle, and the measured data is subjected to vibration compensation of the dynamic reference measurement system to obtain the distance between the section detection point and the center point of the installation structure;
assuming that the middle point of the track plane is the coordinate origin (0, 0) of the measuring system, the coordinates of the installation position of the laser scanner at the front end of the detection vehicle are (M, N), the distance measurement of the laser beam is L, the measuring angle is alpha, and the coordinates (x, y) of the corresponding detection point are calculated
Another object of the present invention is to provide a subway tunnel three-dimensional deformation monitoring and early warning system based on reference transmission, including:
The vehicle-mounted measuring device for tunnel deformation transmitted by the reference comprises the following modules: the method is used for establishing geometrical configuration of a laser measurement sensor network for the tunnel structure under the track operation environment, and carrying out tunnel deformation detection and positioning reference transmission;
The tunnel section measurement data acquisition and analysis module: the system is used for calibrating a multi-sensor system, configuring a sensor self-stabilization system, synchronizing a sensor network, synchronizing a laser ranging system, transmitting and storing mass data of the multi-sensor, fusing and processing the data of the multi-sensor, analyzing tunnel deformation and releasing early warning, and constructing a data transmission mechanism for real-time interaction between a section relative position data field and a station monitoring computer; the station monitoring system configures and modifies software parameters of each integrated tunnel section deformation detection school bus through each communication interface software;
Tunnel section deformation detection module: measuring instrument for deformation of section the system is integrated in a vehicle-mounted integrated system; performing section deformation measurement, vibration reduction support detection, a longitudinal positioning system, detection control and data preprocessing; the vehicle-mounted integrated system is communicated with the upper computer through a wireless network;
Tunnel deformation early warning mechanism storage module: the method is used for storing, analyzing and distributing tunnel deformation information to form a tunnel deformation early warning mechanism.
Further, the vehicle-mounted measuring device forming module of the tunnel deformation transmitted by the reference is also used for establishing a transmission mechanism of the measured data and the station-level data processing system and constructing a theoretical model of the tunnel three-dimensional measurement.
Further, the vehicle-mounted measuring device forming module for the tunnel deformation transmitted by the reference is also used for integrating a longitudinal positioning system of the detection vehicle, carrying out the position of each measuring section in the tunnel and judging the accurate distance between the measuring section and the measuring initial position.
Further, the vehicle-mounted measuring device forming module of the tunnel deformation transmitted by the reference is also used for establishing an integration scheme and key parameter matching of a laser ranging system, a data transmission system, a vehicle-mounted positioning system and a real-time data acquisition and feedback system; and carrying out detection error analysis, contour comparison and early warning fault treatment.
Further, the vehicle-mounted measurement device of the tunnel deformation of the reference transmission constitutes a module, comprising:
The transmission module of the tunnel deformation detection and positioning reference establishes geometrical configuration of a laser measurement sensor network for the tunnel structure in the track operation environment, and transmits the tunnel deformation detection and positioning reference;
The theoretical model construction module for three-dimensional measurement of the tunnel establishes a transmission mechanism of the measured data and the station-level data processing system and constructs a theoretical model for three-dimensional measurement of the tunnel;
The distance module for measuring the distance between the cross sections and the measurement starting position integrates a longitudinal positioning system of the detection vehicle, positions of each measuring cross section in the tunnel are carried out, and the accurate distance between the measuring cross sections and the measurement starting position is judged;
The error analysis, contour comparison and early warning fault processing module is used for establishing an integration scheme and key parameter matching of a laser ranging system, a data transmission system, a vehicle-mounted positioning system and a real-time data acquisition and feedback system; and carrying out detection error analysis, contour comparison and early warning fault treatment.
In summary, the invention has the advantages and positive effects that:
The invention provides a tunnel structure deformation detection domain early warning scheme based on a laser ranging technology by combining the laser ranging technology, a PLC control technology and a computer communication technology on the basis of the traditional tunnel measurement technology. The non-contact and high-precision detection technology is characterized in that a vehicle-mounted laser range finder is utilized to continuously measure each section of the inner wall of a tunnel, the distance between a laser emission point and a section detection point is obtained, measurement data are transmitted to a station-level data processing system through wireless communication, and the system analyzes the deformation state of the tunnel and gives early warning in time.
The invention discloses an automatic monitoring system for tunnel section deformation, which is developed for a subway tunnel under construction or operated already, wherein a detection vehicle runs gradually along the track of the subway tunnel, a PLC (programmable logic controller) is arranged on the detection vehicle, a laser range finder is controlled to continuously rotate and measure the tunnel section, measured data is firstly stored in the PLC on the detection vehicle, after the detection section runs, the laser range finder stops measuring, and the data in the PLC is transmitted to a station-level data processing system in a wireless communication mode. The position of each measuring section in the tunnel, namely the accurate distance of the section from the measuring starting position, is determined by combining a longitudinal positioning system of the detecting vehicle, namely the photoelectric encoder is arranged at the bottom of the tunnel detecting vehicle. The data processing is mainly to carry out contour fitting of the tunnel section on the measured data, the contour of the tunnel section is obtained through curve fitting according to the position coordinates of a limited point on the tunnel section, and the deformation condition of the tunnel section is obtained through comparison with the original design contour, so that possible disasters can be early warned in time.
Compared with the traditional manual tunnel detection mode, the system has the advantages of high precision, good stability, saving of a large amount of manpower and material resources, saving of a large amount of time and hopeful creation of huge economic value.
The invention has the main advantages that:
1) And establishing a high-precision three-dimensional tunnel sequence section measurement and early warning system.
The invention can accurately measure the shape and size data of the tunnel section, analyzes the measured data through matched software to obtain section data, draws an actually measured section diagram, draws a designed section, calculates the actually measured section area, calculates the designed section area, and linearly compares the actually measured section with the designed section (namely, compares the positions of points of the actually measured section with corresponding points of the designed section), thereby giving early warning to possible disasters. On the basis, the real-time longitudinal position of the trolley can be obtained by arranging the photoelectric encoder on the wheel of the detection trolley, so that the system not only obtains the data of a single section, but also comprises the three-dimensional data of the longitudinal coordinate, and the longitudinal position of the dangerous section can be conveniently obtained. This is a quick way to locate and repair a dangerous section.
2) And establishing multi-level control under the conditions of multi-sensor synchronization, relative positioning and attitude determination and environmental interference.
The system is combined with a laser ranging technology, a PLC control technology and a computer communication technology on the basis of a traditional tunnel measurement technology, has integrated software and hardware, wherein the hardware comprises a laser range finder, a range finder controller, a wireless communicator, a detection vehicle, a photoelectric encoder and the like, and a software module can carry out fitting analysis on the section profile of a tunnel according to measured data so as to solve the problems of multi-level control and the like under the interference of calibration of a multi-sensor network, high-precision synchronization among the multi-sensors, relative positioning and attitude determination, irregular vibration of a foundation and the like.
Through the key technical innovation, the invention breaks through in the aspect of practical technical innovation of safety monitoring of the tunnel structure, lays a foundation for forming a technical system for reliability design, analysis, test and evaluation of the rail transit facilities, and obtains a batch of technology, method and practical system with independent intellectual property rights in the field.
The analysis result obtained by the method can be used for monitoring the subway tunnel, and can be popularized to various other fields. For example, the invention can be used for monitoring the section deformation of the road and railway tunnels, which are the most in the world, in China. When the device is used for a railway tunnel, the principle is basically similar to that of the subway tunnel, and the detection vehicle slowly runs along a rail; when the device is used on a highway tunnel, an automatic guiding device based on a lane line can be added, so that a detection vehicle always runs in the center of a certain lane; the method can also be used for pre-warning of coal mine collapse and water permeability accidents, and has huge market application prospect.
Drawings
Fig. 1 is a diagram of a vehicle-mounted measurement device for monitoring three-dimensional deformation of a subway tunnel based on reference transmission, which is provided by the embodiment of the invention.
In the figure: 1. a laser range finder; 2. an inclination sensor; 3. a measuring vehicle body; 4. a photoelectric encoder; 5. a PLC controller; 6. a wireless communicator.
Fig. 2 is a schematic diagram of distance detection from each measurement point of a tunnel section to a range finder according to an embodiment of the present invention.
Fig. 3 is a profile fitting diagram of a detection section provided in an embodiment of the present invention.
Fig. 4 is a diagram of a tunnel axis reference transmission method according to an embodiment of the present invention.
Fig. 5 is a flowchart of the operation of all section measurements in a tunnel section according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention basically has the hard and software environment required by the invention, and is provided with a ground dynamic data acquisition vehicle, various ground laser scanners and the like at present.
As shown in fig. 1, a vehicle-mounted measurement device for three-dimensional deformation monitoring of a subway tunnel based on reference transmission provided by an embodiment of the invention includes:
The device comprises a laser range finder 1, an inclination angle sensor 2, a high-precision rotary table 3, a photoelectric encoder 4, a PLC controller 5 and a wireless communicator 6;
The laser distance measuring instrument 1, the inclination angle sensor 2, the high-precision rotary table 3 and the PLC controller 5 are integrated together to form a rotatable laser distance measuring system for high-speed distance measurement and angle measurement; measuring the profile of the tunnel section in a discrete multipoint mode;
Meanwhile, a photoelectric encoder 4 arranged on a tunnel detection vehicle bottom ranging wheel is combined to obtain a fixed displacement between a starting position and a driving position of a detection vehicle along the axis direction of a tunnel, a program is triggered, and detected data at a specific position in the tunnel is transmitted to an upper computer through a wireless communicator 6;
analyzing and processing by a station-level data processing system to obtain contour fitting of a tunnel detection section;
Detecting relative displacement of adjacent sections by adopting a distributed intelligent network, transmitting a positioning reference to obtain absolute displacement of each monitored section, and monitoring and analyzing deformation of the tunnel section by using a section deformation measuring instrument; and (5) carrying out early warning on the deformation state of the tunnel through analyzing the displacement and the change trend.
The subway tunnel three-dimensional deformation monitoring and early warning method based on reference transmission provided by the embodiment of the invention comprises the following steps:
1) The vehicle-mounted measuring device for carrying out tunnel deformation of reference transmission; establishing geometrical configuration of a laser measurement sensor network for a tunnel structure in a track operation environment, and carrying out tunnel deformation detection and positioning reference transmission;
establishing a transmission mechanism of the measured data and a station-level data processing system, and constructing a theoretical model of tunnel three-dimensional measurement;
The method specifically comprises the following steps:
A point in the subway tunnel at which a monitoring station, such as a tunnel entrance, is located serves as a reference point (origin point) from which the tunnel inspection vehicle travels progressively along a track in the subway tunnel. Although the track trend in the tunnel may deviate from a straight line, the track axis along the advancing direction is equivalent to a linear positive Z axis (as shown in the figure, the Z direction and the horizontal right straight line) in a three-dimensional model of the tunnel, and a photoelectric encoder for measuring the driving distance is arranged on a bottom ranging wheel of the tunnel detection vehicle to obtain a fixed displacement amount from a starting position to a driving position of the detection vehicle along the axis direction of the tunnel, and different Z values such as Z, Z and Z are arranged at different positions to determine the position of each measuring section in the tunnel, namely the accurate distance Z of the section from the measuring starting position.
And on the positions of different tunnel axes, the PLC module arranged on the detection vehicle controls the vehicle-mounted laser range finder to continuously and rotatably measure the tunnel sections at different positions (the sections are vertical to the rail axes), and the rotation measurement of the tunnel sections is carried out once again at fixed driving distances. The measurements of the tunnel cross-section at different locations all represent a series of angles from 0 deg. - - - gt; distance L between the detection point on the circular arc tunnel section and the center point (M, N) of the mounting structure of the vehicle-mounted laser rangefinder during 360 ° step-by-step scanning (subscript i=1, 2, 3.). The measured data (the distance data of one circle of the circular arc tunnel section) are temporarily stored in the PLC on the detection vehicle at first. The absolute coordinates of each detection point on the circular arc tunnel section should be (x i,yi), and the conversion relation is as follows:
(i=1, 2,3.. The position of the detection point at different scanning angles α of a certain section is represented)
Wherein alpha is the angle between the laser beam and the horizontal plane, namely the scanning angle, when the vehicle-mounted laser range finder measures;
M, N is the position of the laser range finder from the initial position to the driving position Z along the axial direction of the tunnel, which is the absolute position of the central point of the laser range finder of the tunnel detection vehicle when the initial point in the tunnel is taken as the origin, and if the initial point in the tunnel is expressed by three-dimensional space coordinates, the initial point is (M, N, Z);
x and y are absolute coordinates of a series of detection points (x, y) of the detection section, and are calculated according to the (M, N) positions;
L is the distance between a series of detection points of the detection section and the laser emergent point of the vehicle-mounted laser range finder.
Through the calculation, a group of data (x i,yi, Z) corresponding to a certain arc-shaped tunnel section is obtained. After the tunnel section of all the points to be measured in the section to be detected is measured, the laser range finder stops measuring, and the data in the PLC is transmitted to the station data processing system in a wired or wireless communication mode. The data processing is mainly to perform contour fitting of the tunnel section on the measured data, and the contour of the actually measured tunnel section can be obtained through curve fitting according to the position coordinates of a limited point on the tunnel section.
The data present in the station-level data center is thus a series (x i,yi, Z), where Ω=a, b, c. And i=1, 2,3,4. A series of laser ranging detection point sequences are cross-sectioned. And the software system calls corresponding software to fit the profiles of all the detection sections according to the coordinate values of all the detection points on each section. The fitting method can be selected according to the accuracy or real-time requirement, for example, linear regression, least square method and the like can be adopted. And fitting the data of all detection points of a certain section to obtain a curve, wherein the curve is the contour line of the tunnel section actually measured at the time. Of course. At the beginning of tunnel construction or after passing inspection, normal data (considered standard data) which originally meet the design requirements have been measured according to the same method, and the curve obtained by fitting these data is considered as a standard curve. Theoretically, the two contours should be concentric circles, and if there is deformation, the perimeter data of the two concentric circles will deviate. And comparing the deformation condition of the tunnel section with the original design profile to obtain the deformation condition of the tunnel section, thereby timely early warning the possible disasters.
The longitudinal positioning system of the integrated detection vehicle is used for carrying out the position of each measurement section in the tunnel and judging the accurate distance between the measurement section and the measurement starting position;
Establishing an integration scheme and key parameter matching of a laser ranging system, a data transmission system, a vehicle-mounted positioning system and a real-time data acquisition and feedback system; performing detection error analysis, contour comparison and early warning fault treatment;
the contour comparison and early warning fault processing specifically comprises the following steps:
Firstly, judging whether the profile of a section of a tunnel detection vehicle deforms at a position of a tunnel axis, wherein all detection point (x, y) coordinates of the detection section are required to be stored in a memory of a PLC, and then data are transmitted to a station-level data processing system. The conversion relation between the measured distance of the laser based on the emergent point and the absolute position based on the tunnel starting point or the origin point on the current section circular outline is as follows:
(i=1, 2,3.. The position of the detection point at different scanning angles α of a certain section is represented)
Wherein alpha is the angle between the laser beam and the horizontal plane, namely the scanning angle, when the vehicle-mounted laser range finder measures;
M, N is the position of the laser range finder from the initial position to the driving position Z along the axial direction of the tunnel, which is the absolute position of the central point of the laser range finder of the tunnel detection vehicle when the initial point in the tunnel is taken as the origin, and if the initial point in the tunnel is expressed by three-dimensional space coordinates, the initial point is (M, N, Z);
x and y are absolute position coordinates of a series of detection points (x and y) of the detection section, and are calculated according to the (M and N) positions;
L is the distance between a series of detection points of the detection section and the laser emergent point of the vehicle-mounted laser range finder.
Through the calculation, a group of data (x i,yi, Z) corresponding to a certain arc-shaped tunnel section is obtained. After the tunnel section of all the points to be measured in the section to be detected is measured, the laser range finder stops measuring, and the data in the PLC is transmitted to the station data processing system in a wired or wireless communication mode. The data processing is mainly to perform contour fitting of the tunnel section on the measured data, and the contour of the actually measured tunnel section can be obtained through curve fitting according to the position coordinates of a limited point on the tunnel section.
And the system calls corresponding software to fit the profiles of all the detection sections according to the coordinate values of all the detection points on each section. The fitting method can be selected according to the accuracy or real-time requirement, for example, linear regression, least square method and the like can be adopted. And a curve can be obtained by fitting the data of all detection points, and the curve is the contour line of the tunnel section actually measured at the time. Of course. At the beginning of tunnel construction or after passing inspection, normal data (considered standard data) which originally meet the design requirements have been measured according to the same method, and the curve obtained by fitting these data is considered as a standard curve. Theoretically, the two contours should be concentric circles, and if there is deformation, the perimeter data of the two concentric circles will deviate.
Secondly, deformation early warning is carried out. If the deformation is within the allowable range of the design, the deformation of the whole tunnel is still within an acceptable range at present. However, no matter what deformation judgment algorithm (such as a maximum deviation method or a least square method) is adopted, the maximum deviation or the comprehensive deviation of the data points has a continuous, stable and unidirectional deformation speed. If accumulated at this speed, the term may exceed the allowable value for a certain time interval in the future. Therefore, the method can judge the phenomenon in advance and give an early warning.
2) And (3) collecting and analyzing tunnel section measurement data:
performing multi-sensor system calibration, sensor self-stabilization system, sensor network configuration, laser ranging system synchronization, multi-sensor mass data transmission and storage, multi-sensor data fusion processing, tunnel deformation analysis and early warning release, and constructing a data transmission mechanism of real-time interaction between a section relative position data field and a station monitoring computer; all (x, y, Z) data sequences with a series of sections are transmitted through a wireless network, each group of data points are packaged into a data packet (comprising redundancy and checking) through a certain coding mode, one data packet is sent at a time, and data exchange is carried out with a station-level monitoring system at the tunnel outlet in real time.
The station monitoring system configures and modifies software parameters of each integrated tunnel section deformation detection school bus through each communication interface software;
3) And (3) detecting deformation of the tunnel section:
Integrating a section deformation measuring instrument into a vehicle-mounted integrated system; performing section deformation measurement, vibration reduction support detection, a longitudinal positioning system, detection control and data preprocessing; the vehicle-mounted integrated system is communicated with the upper computer through a wireless network;
the data preprocessing specifically comprises the following steps:
the data obtained by direct measurement of the vehicle-mounted laser range finder on the tunnel detection vehicle are distance data of a series of detection points relative to the laser emergent point of the vehicle-mounted laser range finder, and the data in one dimension cannot be used for tunnel deformation detection and early warning. The data actually drawing the three-dimensional tunnel section is a series of three-dimensional data (x, y, z). The z data comes from a photoelectric detector at the position of a ranging wheel below the tunnel detection vehicle, namely, the absolute position z between the starting point in the tunnel and the central point of the laser range finder of the tunnel detection vehicle is taken as the original point, and the (x, y) is calculated in advance according to the following formula: (the meaning of each letter is as above).
Furthermore, the acquisition of data such as x, y, z and the like requires the cooperation of sensors of the whole system, and the acquired original sensing data cannot be directly used for drawing a three-dimensional tunnel section generally and requires the early processing and conversion. The general conversion relation, namely:
the laser range finder directly obtains the distances L from the laser emergent point to different position points of the tunnel section and converts the distances L into (x, y) of the points;
The inclination angle sensor directly obtains an included angle between the laser emergent direction and the horizontal direction, namely an angle alpha;
A high-precision rotating table directly controls the laser emergent direction to gradually scan from 0 degree to 360 degrees, even if the angle of measurement alpha=0 to 360 degrees changes;
the photoelectric encoder is arranged on the tunnel detection vehicle bottom ranging wheel and is used for directly detecting the fixed displacement z between the initial position and the driving position of the vehicle along the axis direction of the tunnel;
A PLC controller; a system for controlling and managing various components or sensors for high speed ranging, angulation, rotation, and the like. Acquiring and collecting three-dimensional coordinates (x, y, z) of all measurement points in each tunnel section;
4) And storing, analyzing and releasing tunnel deformation information to form a tunnel deformation early warning mechanism.
Step 4), comprising:
establishing a space database to store and release tunnel deformation information;
Collecting and fusion analyzing data of multiple sensors, and carrying out three-dimensional dynamic modeling on a tested tunnel; and generating an early warning report through analyzing historical data of each observation point.
Step 1), integrating a longitudinal positioning system of the detection vehicle, carrying out the position of each measurement section in the tunnel, judging the accurate distance between the measurement section and the measurement starting position,
The laser range finder is arranged on the detection vehicle, and the measured data is subjected to vibration compensation of the dynamic reference measurement system to obtain the distance between the section detection point and the center point of the installation structure;
Assuming that the middle point of the track plane is the coordinate origin (0, 0) of the measuring system, the coordinates of the installation position of the laser scanner at the front end of the detection vehicle are (a, b) obtained by manual measurement, the distance measurement of the beam laser is L, the measuring angle is alpha, and the coordinates (x, y) of the corresponding detection point are calculated
The subway tunnel three-dimensional deformation monitoring and early warning system based on reference transmission provided by the embodiment of the invention comprises the following steps:
the vehicle-mounted measuring device for tunnel deformation transmitted by the reference comprises the following modules:
Establishing geometrical configuration of a laser measurement sensor network for a tunnel structure in a track operation environment, and carrying out tunnel deformation detection and positioning reference transmission;
establishing a transmission mechanism of the measured data and a station-level data processing system, and constructing a theoretical model of tunnel three-dimensional measurement;
The longitudinal positioning system of the integrated detection vehicle is used for carrying out the position of each measurement section in the tunnel and judging the accurate distance between the measurement section and the measurement starting position;
Establishing an integration scheme and key parameter matching of a laser ranging system, a data transmission system, a vehicle-mounted positioning system and a real-time data acquisition and feedback system; performing detection error analysis, contour comparison and early warning fault treatment;
The tunnel section measurement data acquisition and analysis module:
performing multi-sensor system calibration, sensor self-stabilization system, sensor network configuration, laser ranging system synchronization, multi-sensor mass data transmission and storage, multi-sensor data fusion processing, tunnel deformation analysis and early warning release, and constructing a data transmission mechanism of real-time interaction between a section relative position data field and a station monitoring computer; the station monitoring system configures and modifies software parameters of each integrated tunnel section deformation detection school bus through each communication interface software;
Tunnel section deformation detection module:
Integrating a section deformation measuring instrument into a vehicle-mounted integrated system; performing section deformation measurement, vibration reduction support detection, a longitudinal positioning system, detection control and data preprocessing; the vehicle-mounted integrated system is communicated with the upper computer through a wireless network;
Tunnel deformation early warning mechanism storage module: the method is used for storing, analyzing and distributing tunnel deformation information to form a tunnel deformation early warning mechanism.
The vehicle-mounted measuring device for tunnel deformation transmitted by the reference comprises a module, wherein the module comprises:
The transmission module of the tunnel deformation detection and positioning reference establishes geometrical configuration of a laser measurement sensor network for the tunnel structure in the track operation environment, and transmits the tunnel deformation detection and positioning reference;
The theoretical model construction module for three-dimensional measurement of the tunnel establishes a transmission mechanism of the measured data and the station-level data processing system and constructs a theoretical model for three-dimensional measurement of the tunnel;
The distance module for measuring the distance between the cross sections and the measurement starting position integrates a longitudinal positioning system of the detection vehicle, positions of each measuring cross section in the tunnel are carried out, and the accurate distance between the measuring cross sections and the measurement starting position is judged;
The error analysis, contour comparison and early warning fault processing module is used for establishing an integration scheme and key parameter matching of a laser ranging system, a data transmission system, a vehicle-mounted positioning system and a real-time data acquisition and feedback system; and carrying out detection error analysis, contour comparison and early warning fault treatment.
The invention is further described in connection with specific analysis,
Demonstration application
In practical application verification, an interval in an operation tunnel of Hangzhou urban subway company is taken as an experimental demonstration, so that safety monitoring of a tunnel structure, deformation analysis and early warning release are realized. And comparing and verifying the design tunnel and the conventional method to form the safety monitoring and practical technology of the tunnel structure.
The embodiment of the invention provides a vehicle-mounted measuring device for monitoring three-dimensional deformation of a subway tunnel based on reference transmission,
And the non-operation and maintenance time of the subway tunnel is utilized, and the inner wall of the tunnel is measured through the vehicle-mounted laser range finder.
The detection vehicle runs progressively along the track of the subway tunnel, a PLC is arranged on the detection vehicle, the laser range finder is controlled to continuously and rotatably measure the section of the tunnel, measured data are stored into the PLC on the detection vehicle, after the detection section runs, the laser range finder stops measuring, and the data in the PLC are transmitted to the station-level data processing system in a wireless communication mode. The position of each measuring section in the tunnel, namely the accurate distance of the section from the measuring starting position, is determined by combining a longitudinal positioning system of the detecting vehicle, namely the photoelectric encoder arranged at the bottom of the tunnel detecting vehicle. The data processing is mainly to carry out the contour fitting of the tunnel section on the measured data, the contour of the tunnel section can be obtained through curve fitting according to the position coordinates of a limited point on the tunnel section, and the deformation condition of the tunnel section is obtained through comparison with the original design contour, so that the possible disaster can be early warned in time.
The model diagram of the vehicle-mounted laser ranging device is shown in fig. 1 and is divided into three parts: the device comprises a tunnel section laser ranging device, a detection vehicle longitudinal movement positioning device and a wireless data communication device. The system mainly comprises a laser range finder, an inclination angle sensor, a high-precision rotary table, a photoelectric encoder, a PLC controller and a wireless communicator. The laser distance measuring instrument, the inclination angle sensor and the high-precision rotating table are combined to form the rotatable laser distance measuring system capable of measuring distance and angle at high speed. The system takes a PLC as a controller, a laser ranging system measures the profile of the tunnel section in a discrete multi-point mode, and simultaneously, a photoelectric encoder arranged on a ranging wheel at the bottom of the tunnel detection vehicle is combined to obtain the fixed displacement between the initial position and the driving position of the detection vehicle along the axis direction of the tunnel, a program is triggered, the detected data at the specific position in the tunnel is transmitted to an upper computer through a wireless communicator, and a station-level data processing system analyzes and processes the data, so that the profile fitting of the tunnel detection section is obtained.
And detecting relative displacement of adjacent sections by adopting a distributed intelligent network, acquiring absolute displacement of each monitored section through transmission of a positioning reference, and monitoring and analyzing deformation of the tunnel section by using a section deformation measuring instrument. And (5) carrying out early warning on the deformation state of the tunnel through analyzing the displacement and the change trend. The project takes a section of interval as an analysis object.
Fig. 2 is a schematic diagram of distance detection of a tunnel section according to an embodiment of the present invention.
Fig. 3 is a profile fitting diagram of a detection section provided in an embodiment of the present invention.
Fig. 4 is a diagram of a tunnel axis reference transmission method according to an embodiment of the present invention.
Fig. 5 is a flowchart of the operation of all section measurements in a tunnel section according to an embodiment of the present invention.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (5)
1. The subway tunnel three-dimensional deformation monitoring and early warning method based on reference transmission is characterized by comprising the following steps of:
1) The vehicle-mounted measuring device for carrying out tunnel deformation of reference transmission; establishing geometrical configuration of a laser measurement sensor network for a tunnel structure in a track operation environment, and carrying out tunnel deformation detection and positioning reference transmission;
establishing a transmission mechanism of the measured data and a station-level data processing system, and constructing a theoretical model of tunnel three-dimensional measurement;
The longitudinal positioning system of the integrated detection vehicle is used for carrying out the position of each measurement section in the tunnel and judging the accurate distance between the measurement section and the measurement starting position;
Establishing an integration scheme and key parameter matching of a laser ranging system, a data transmission system, a vehicle-mounted positioning system and a real-time data acquisition and feedback system; performing detection error analysis, contour comparison and early warning fault treatment;
2) And (3) collecting and analyzing tunnel section measurement data:
performing multi-sensor system calibration, sensor self-stabilization system, sensor network configuration, laser ranging system synchronization, multi-sensor mass data transmission and storage, multi-sensor data fusion processing, tunnel deformation analysis and early warning release, and constructing a data transmission mechanism of real-time interaction between a section relative position data field and a station monitoring computer; the station monitoring system configures and modifies software parameters of each integrated tunnel section deformation detection school bus through each communication interface software;
3) And (3) detecting deformation of the tunnel section:
Integrating a section deformation measuring instrument into a vehicle-mounted integrated system; performing section deformation measurement, vibration reduction support detection, a longitudinal positioning system, detection control and data preprocessing; the vehicle-mounted integrated system is communicated with the upper computer through a wireless network;
4) Storing, analyzing and releasing tunnel deformation information to form a tunnel deformation early warning mechanism;
the step 1) of judging the accurate distance between the measured section and the measurement starting position comprises the following steps:
The laser range finder is arranged on the detection vehicle, and the measured data is subjected to vibration compensation of the dynamic reference measurement system to obtain the distance between the section detection point and the center point of the installation structure;
A certain point at the beginning of the subway tunnel is used as a datum point, the datum point is used as an origin point, and the tunnel detection vehicle starts from the datum point and runs progressively along the track in the subway tunnel; a PLC module arranged on the detection vehicle at intervals of fixed driving distance controls the vehicle-mounted laser range finder to carry out rotation measurement on the tunnel section; the absolute coordinate of each detection point on the arc-shaped tunnel section is (x i,yi), and the conversion relation is as follows:
Wherein i=1, 2,3., where, i represents the positions of detection points of different scanning angles alpha i of a certain section; alpha i is the angle of the laser beam and the horizontal plane, namely the scanning angle, when the vehicle-mounted laser range finder measures; m, N is the position coordinate of the central point of the mounting structure of the laser range finder at the front end of the detection vehicle when the laser range finder reaches the driving position Z along the axial direction of the tunnel, namely the absolute position of the central point of the laser range finder of the tunnel detection vehicle when the initial point in the tunnel is taken as the origin, and L i is the distance between the ith detection point of a certain section and the laser exit point of the vehicle-mounted laser range finder; the three-dimensional data of each detection point on the arc-shaped tunnel section is (x i,yi, Z), after the measurement of the tunnel section of the detection section is finished, the laser range finder stops measuring, and the data in the PLC is transmitted to the station-level data processing system in a wired or wireless communication mode; and the data processing system carries out contour fitting on the tunnel section of the measured data to obtain the contour of the actually measured tunnel section.
2. The subway tunnel three-dimensional deformation monitoring and early warning method based on reference transmission as claimed in claim 1, wherein the step 4) comprises the following steps: establishing a space database to store and release tunnel deformation information;
Collecting and fusion analyzing data of multiple sensors, and carrying out three-dimensional dynamic modeling on a tested tunnel; and generating an early warning report through analyzing historical data of each observation point.
3. The subway tunnel three-dimensional deformation monitoring and early warning system based on reference transmission for realizing the subway tunnel three-dimensional deformation monitoring and early warning method based on reference transmission according to claim 1 is characterized in that the subway tunnel three-dimensional deformation monitoring and early warning system based on reference transmission comprises:
The vehicle-mounted measuring device for tunnel deformation transmitted by the reference comprises the following modules: the method is used for establishing geometrical configuration of a laser measurement sensor network for the tunnel structure under the track operation environment, and carrying out tunnel deformation detection and positioning reference transmission;
The tunnel section measurement data acquisition and analysis module: the system is used for calibrating a multi-sensor system, configuring a sensor self-stabilization system, synchronizing a sensor network, synchronizing a laser ranging system, transmitting and storing mass data of the multi-sensor, fusing and processing the data of the multi-sensor, analyzing tunnel deformation and releasing early warning, and constructing a data transmission mechanism for real-time interaction between a section relative position data field and a station monitoring computer; the station monitoring system configures and modifies software parameters of each integrated tunnel section deformation detection school bus through each communication interface software;
Tunnel section deformation detection module: measuring instrument for deformation of section the system is integrated in a vehicle-mounted integrated system; performing section deformation measurement, vibration reduction support detection, a longitudinal positioning system, detection control and data preprocessing; the vehicle-mounted integrated system is communicated with the upper computer through a wireless network;
tunnel deformation early warning mechanism storage module: the tunnel deformation early warning system is used for storing, analyzing and distributing tunnel deformation information to form a tunnel deformation early warning mechanism;
The vehicle-mounted measuring device for tunnel deformation transmitted by the reference comprises a module, wherein the module comprises:
The transmission module of the tunnel deformation detection and positioning reference establishes geometrical configuration of a laser measurement sensor network for the tunnel structure in the track operation environment, and transmits the tunnel deformation detection and positioning reference;
The theoretical model construction module for three-dimensional measurement of the tunnel establishes a transmission mechanism of the measured data and the station-level data processing system and constructs a theoretical model for three-dimensional measurement of the tunnel;
The distance module for measuring the distance between the cross sections and the measurement starting position integrates a longitudinal positioning system of the detection vehicle, positions of each measuring cross section in the tunnel are carried out, and the accurate distance between the measuring cross sections and the measurement starting position is judged;
The error analysis, contour comparison and early warning fault processing module is used for establishing an integration scheme and key parameter matching of a laser ranging system, a data transmission system, a vehicle-mounted positioning system and a real-time data acquisition and feedback system; and carrying out detection error analysis, contour comparison and early warning fault treatment.
4. The vehicle-mounted measuring device for monitoring three-dimensional deformation of a subway tunnel based on reference transmission for realizing the method for monitoring and early warning three-dimensional deformation of a subway tunnel based on reference transmission according to claim 1 is characterized in that the vehicle-mounted measuring device for monitoring three-dimensional deformation of a subway tunnel based on reference transmission comprises:
A high-precision rotating table;
The high-precision rotary table is fixed on the main body of the measuring vehicle through a bracket; the laser range finders and the inclination angle sensors are all arranged on the high-precision rotating table;
the photoelectric encoder is arranged on a vehicle bottom ranging wheel of the measuring vehicle main body, the PLC controller is arranged on one side of the measuring vehicle main body, and the wireless communicator is arranged on the upper part of the measuring vehicle main body;
the laser distance measuring instrument, the inclination angle sensor, the high-precision rotating table and the PLC are integrated together to be used for a high-speed distance measuring, angle measuring and rotatable laser distance measuring system; measuring the profile of the tunnel section in a discrete multipoint mode; the laser range finder is used for monitoring and analyzing the deformation of the tunnel section; carrying out early warning on the deformation state of the tunnel through analyzing the displacement and the change trend;
The laser ranging system is combined with the photoelectric encoder to obtain the fixed displacement between the initial position and the driving position of the detection vehicle along the axis direction of the tunnel, triggers a program built in the PLC controller and transmits the detected data at the specific position in the tunnel to the upper computer through the wireless communicator.
5. The vehicle-mounted measurement device for three-dimensional deformation monitoring of a subway tunnel based on reference transmission according to claim 4, wherein the vehicle-mounted measurement device for three-dimensional deformation monitoring of a subway tunnel based on reference transmission further comprises: station data processing systems positioned at two ends of the tunnel section are used for analyzing and processing, obtaining the outline of the tunnel detection section and fitting; the station-level data processing system adopts a distributed intelligent network to detect the relative displacement of adjacent sections, and obtains the absolute displacement of each monitoring section through the transmission of a positioning reference.
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