CN118959092A - Real-time monitoring and early warning device and method for tunnel surface displacement based on GNSS - Google Patents
Real-time monitoring and early warning device and method for tunnel surface displacement based on GNSS Download PDFInfo
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Abstract
本发明提供一种基于GNSS的巷道表面位移实时监测预警装置及方法，本发明基于GNSS的巷道表面位移实时监测预警装置包括测量模块、基准模块和数据处理终端，其中，巷道沿长度方向设置若干个巷道断面，所述巷道断面均匀布置多个监测点，每个监测点通过固定结构固定一测量模块，所述测量模块用于测量巷道围岩实时位移数据；所述基准模块固定在地表，实时数据处理终端的输入端与测量模块和基准模块的输出端相连，所述数据处理终端基于基准模块的数据修正所述测量模块测量的数据，并基于修正后的数据实时监测巷道表面位移，本发明还提供一种巷道表面位移实时监测及预警方法。本发明能够实现巷道实时连续全断面监测，有效提高了监测精度。
The present invention provides a GNSS-based real-time monitoring and early warning device and method for tunnel surface displacement. The GNSS-based real-time monitoring and early warning device for tunnel surface displacement includes a measurement module, a reference module and a data processing terminal, wherein a tunnel is provided with a plurality of tunnel sections along the length direction, and a plurality of monitoring points are evenly arranged on the tunnel section, and a measurement module is fixed to each monitoring point through a fixed structure, and the measurement module is used to measure the real-time displacement data of the tunnel surrounding rock; the reference module is fixed on the ground surface, and the input end of the real-time data processing terminal is connected to the output end of the measurement module and the reference module, and the data processing terminal corrects the data measured by the measurement module based on the data of the reference module, and monitors the tunnel surface displacement in real time based on the corrected data, and the present invention also provides a tunnel surface displacement real-time monitoring and early warning method. The present invention can realize real-time continuous full-section monitoring of the tunnel, and effectively improves the monitoring accuracy.
Description
Technical Field
The invention relates to the technical field of roadway displacement monitoring, in particular to a roadway surface displacement real-time monitoring and early warning device and method based on GNSS.
Background
Under the deep mining condition of the coal mine, the mining coal rock mass is subjected to high static load stress effects such as dead weight, structural stress and mining stress of an overburden rock layer, the high stress effect is easily generated on surrounding rocks of a roadway, the roadway deformation is caused, the stability of the surrounding rocks of the roadway is seriously threatened, and the smooth operation of the mining work of the coal mine is influenced. At present, roadway surface deformation monitoring methods mainly comprise a cross point distribution method and a sensor method, and the two methods mainly have the following defects:
(1) Monitoring timeliness is poor.
The cross point distribution method is usually required to be monitored manually, and comprises setting point distribution, measurement and the like, which is time-consuming and labor-consuming, is easily affected by human factors such as errors, unstable monitoring frequency and the like, and the setting of the point distribution is usually limited, so that the method cannot comprehensively reflect the deformation condition of the whole roadway or tunnel, and particularly the deformation distribution is uneven or the local deformation is larger. Moreover, the method has larger hysteresis and uncertainty in data acquisition, updating and efficiency, and cannot provide real-time or continuous deformation data.
When the strain sensor is used for monitoring, the existing product is limited by the acquisition frequency in data acquisition, so that the monitoring data cannot meet the requirements of real-time performance and accuracy, and the monitoring data has certain defects in the aspect of timely finding deformation abnormality or emergency.
(2) The reliability of the monitoring result is poor.
The strain sensor is usually a precise electronic device, is easy to be damaged mechanically or influenced by factors such as electromagnetic interference and the like, and needs maintenance or otherwise can influence the normal operation and data accuracy of a monitoring system, and the traditional strain sensor can only obtain roadway strain data and cannot obtain real displacement data of surrounding rocks of a roadway.
(3) The environmental adaptability is poor.
Due to the complexity of the roadway environment, geological structures such as faults, landslide zones or karst caves and the like can exist in the area where the roadway is located, and the conditions such as high stress concentration or massive infiltration of underground water exist, so that surrounding rocks are extremely unstable, and personnel safety is threatened; adverse conditions such as toxic gas, high temperature or extreme humidity can exist in the tunnel, personnel can not stay for a long time, traditional monitoring equipment is difficult to effectively arrange and operate in complex geological environment, and monitoring difficulty is increased.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a real-time roadway surface displacement monitoring and early warning device based on GNSS, and also provides a real-time roadway surface displacement monitoring and early warning method based on GNSS, which is realized based on the real-time roadway surface displacement monitoring and early warning device based on a GNSS system, so that the problems of low timeliness, low monitoring precision and the like of the traditional roadway monitoring method can be solved, the safety and stability of underground roadways are improved, the instantaneity and precision of roadway displacement monitoring are improved, the occurrence of roadway surrounding rock accidents is effectively prevented, the global positioning coverage and high precision positioning capability of GNSS (global satellite navigation system) are utilized, the comprehensiveness and the accuracy of monitoring are improved, and the automatic acquisition, integration and analysis of monitoring data are realized by constructing an intelligent roadway detection model and an early warning mechanism, and the utilization value and the application efficiency of the monitoring data are improved.
The invention discloses a real-time monitoring and early warning device for roadway surface displacement based on GNSS (Global navigation satellite System), which comprises a measuring module, a reference module and a data processing terminal, wherein a plurality of roadway sections are arranged in the length direction of a roadway, a plurality of monitoring points are uniformly arranged on the roadway sections, each monitoring point is fixed with a measuring module through a fixed structure, and the measuring module is used for measuring real-time displacement data of surrounding rocks of the roadway; the system comprises a real-time data processing terminal, a measurement module, a reference module and an acceleration detection device, wherein the reference module is fixed on the ground, the input end of the real-time data processing terminal is respectively connected with the output ends of the measurement module and the reference module, the data processing terminal corrects the data measured by the measurement module based on the data of the reference module, and monitors the surface displacement of a roadway in real time based on the corrected data; and calculating the displacement amount according to the adjustment result when the reference module is displaced, and updating the three-dimensional coordinate information of the reference module.
Further, the data processing terminal comprises a processor, a storage module, a display module and a data transmission module, wherein the processor is used for monitoring the surface displacement of the roadway in real time, the storage module is used for storing data information sent by the reference module and the measurement module and storing calculation results, the display module is used for visualizing the calculation results, and the data transmission module is used for data transmission between the data processing terminal and the reference module and the measurement module.
The invention also provides a roadway surface displacement real-time monitoring and early warning method based on GNSS, which comprises the following steps:
S101: receiving global coordinates of each monitoring point on the surface of the roadway, and establishing serial number information of each roadway section and serial number information of a measuring module;
S102: correcting the global coordinates measured by the measuring module based on the global coordinate information of the reference module to obtain updated three-dimensional coordinate information of each monitoring point;
S103: selecting coordinates of a monitoring point of a central axis position of a mounting surface of one tunnel section as a local coordinate origin, generating data of each tunnel section, and determining the relative position of each tunnel section;
s105: judging whether the three-dimensional coordinate information of each monitoring point is changed, if not, returning to the execution step S101, if so, updating the three-dimensional coordinate information of the monitoring point, and receiving the real-time acceleration information of the measuring module;
s107: recording single displacement, roadway surface deformation and real-time acceleration information of each coordinate update;
S108: establishing an early warning mechanism: and setting early warning signal characteristics, wherein the early warning signal characteristics comprise the total displacement and the deformation speed of the roadway, and generating early warning information for reminding related personnel based on the early warning signal characteristic values.
Further, after the step S103 is performed, step S104 is further included: constructing a roadway monitoring model according to the position characteristics and the section change characteristics of the roadway section,
After the step S105 is executed, the method further includes a step S106: and reconstructing a roadway monitoring model based on the monitoring points with the changed three-dimensional coordinate information.
Further, in step S104, the method for constructing the roadway monitoring model according to the position feature and the section change feature of the roadway section comprises the following steps:
If the tunnel section is in a straight line segment, connecting corresponding points of adjacent tunnel sections, and constructing a triangular surface net by adopting a triangulation method to generate a tunnel monitoring model;
If the tunnel section is at the corner, using the adjacent three tunnel sections as a tunnel section group, calculating the local coordinates of the characteristic points at the corner, and constructing the tunnel monitoring model by using a curved surface splicing technology.
Further, if the tunnel section is at a corner, the construction method of the tunnel monitoring model comprises the following steps:
Uniformly discretizing the arc line segments of the three tunnel sections at the corners of the tunnel into p characteristic points according to the central axis coordinates of the three tunnel sections A, B, C, and obtaining the central axis coordinates of the three tunnel sections 、、Calculating the center coordinates of three pointsThe radius R takes the circle center as a local coordinate origin, and feature point coordinates between tunnel sections are calculated according to the azimuth angle alpha of each feature point; adjacent characteristic points are connected, a triangular net is built in line-surface-body sequence, the corners are connected by using a curved surface splicing technology, a roadway monitoring model is generated,
Feature pointsCoordinates of (c)The calculation formula of (2) is as follows:
wherein, 。
Further, in step S108, if any of the characteristic values of the early warning signals is greater than the set threshold, the position of the measurement module is highlighted at the display end of the roadway monitoring model, so as to remind related personnel in a visual manner.
Further, in step S108, the early warning signal feature further includes a fractal dimension of the roadway surface displacement, where the fractal dimension of the roadway surface displacement is used to evaluate whether the roadway surrounding rock surface deformation time sequence has state persistence.
Further, the specific method for evaluating whether the roadway surrounding rock surface deformation time sequence has state persistence through fractal dimension comprises the following steps:
(1) Constructing a relation formula of fractal dimension and Hurst index H: ；
(2) Constructing a regression equation of the Hurst index H, and obtaining the H value by the least square regression equation, wherein the Hurst index H is obtained by the following steps:
calculating Hurst index H by using a heavy-table range method, and equally dividing the roadway surface displacement time sequence into Sub-sequences, each sequence comprisingThe number of elements to be added to the composition,For the sequence number of the sub-sequence,The serial numbers of the elements are recorded as follows:
normalization value of sub-sequence sample data The method comprises the following steps:
wherein, For the data mean value of the sub-sequence samples,
Establishing a tunnel surface displacement accumulated time sequence：
Calculate the extremely poorStandard deviation ofExtremely poor in weight scaleThe calculation formula is as follows:
Order the ，
Logarithmically, establishing a least square regression equation to obtain a value of a Hurst index H, wherein the least square regression equation is as follows:
wherein, Is the extremely bad accumulated time sequence of the roadway surface displacement samples,As the standard deviation of the sample sequence,Is a constant value, and is used for the treatment of the skin,Is constantThe number of the digits of the data are calculated,To the power H of the number k of subsequences, H is the Hurst index; Is in combination with Corresponding accumulated time seriesOrdinal numbers of (2);
(3) Acquiring a value of a fractal dimension D based on the relationship between the fractal dimension and a Hurst index H;
(4) And based on the value of the fractal dimension D, evaluating the degree of continuity of the deformation time sequence state of the roadway surrounding rock surface.
Further, the early warning mechanism is as follows: generating a corresponding early warning signal according to the numerical range of the early warning signal characteristics, wherein the early warning signal comprises: a first-stage early warning signal, a second-stage early warning signal and a third-stage early warning signal,
When the total displacement of the roadway of the monitoring point is smaller than or equal to a first displacement threshold value or the deformation speed is smaller than or equal to a first speed threshold value, the roadway is monitored in real time, and a data processing terminal system sends out a first-stage early warning signal; when the total displacement of the roadway of the monitoring point is larger than a first displacement threshold and smaller than or equal to a second displacement threshold or the deformation speed is larger than a first speed threshold and smaller than or equal to a second speed threshold, positioning the section position of the roadway according to the number of the measuring module, and sending a second-stage early warning signal at the section position of the roadway to remind a worker to check the related area of the roadway; when the total displacement of the roadway of the monitoring point is larger than the second displacement threshold value or the deformation speed is larger than the second speed threshold value, a third-level early warning signal is sent to the whole roadway, the section position of the roadway is positioned according to the serial number of the measuring module, the staff is warned to make corresponding emergency measures,
At the same time, the method comprises the steps of,
When fractal dimensionWhen the roadway deformation is not provided with time persistence, the current roadway is high in safety, and the data processing terminal system sends out a first-stage early warning signal; when fractal dimensionWhen the roadway deformation is described to have time persistence, the system sends out a second-level early warning signal to remind relevant staff to improve vigilance, and the continuous deformation area is focused on; when fractal dimensionThe roadway deformation is highly continuous in time, and the system sends out a third-level early warning signal to remind relevant staff of immediately taking emergency measures to the deformation area.
Compared with the prior art, the invention has the beneficial effects that: through setting up a plurality of tunnel terminal surfaces in the tunnel to arrange a plurality of check points on the tunnel terminal surface, can real-time continuous full-section monitoring, correct measuring module's detection information through the benchmark module, can further promote the precision of monitoring. By setting the data processing terminal, the staff can remotely acquire real-time data of the roadway, and the safety of staff monitoring is improved. The invention also has the following innovative points:
(1) The invention can obtain the real displacement of the coal rock tunnel, construct the three-dimensional position state of the tunnel in real time, and monitor the surface displacement of the tunnel continuously in real time.
The invention adopts the GNSS receiving device, has higher positioning precision, can realize millimeter-level even higher-precision displacement monitoring, can discover tiny displacement change in time, ensures that monitoring data are more timely and accurate, has the characteristic of global positioning coverage, and greatly improves the real-time performance, continuity and precision of monitoring. Meanwhile, continuous full-section monitoring of the roadway is realized by constructing a three-dimensional roadway monitoring model.
(2) The invention can realize the full life cycle monitoring of the roadway from the tunneling construction of the roadway to the installation and the stoping of the working face and then to the retracement and the sealing of the working face, thereby ensuring the safe and stable operation of the roadway in the full life cycle.
(3) The method can realize automatic acquisition, data processing, real-time monitoring and feedback of the monitoring data, perform three-dimensional modeling according to the acquired data, perform visual management on the whole roadway, intelligently predict the roadway state based on historical data, evaluate the roadway risk state, provide a response scheme for a decision maker, and improve decision efficiency and accuracy.
Drawings
In order to more clearly illustrate the invention or the solutions of the prior art, a brief description will be given below of the drawings used in the description of the embodiments or the prior art, it being obvious that the drawings in the description below are some embodiments of the invention and that other drawings can be obtained from them without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a real-time monitoring and early warning device for roadway surface displacement;
FIG. 2 is a flow chart of a method for monitoring the surface displacement of a roadway in real time according to the invention;
FIG. 3 is a flow chart of the construction of the roadway detection model of the present invention;
Fig. 4 is a schematic view of an embodiment of the present invention in which a measurement module is disposed on an end surface of a roadway.
Reference numerals: 1-surrounding rock and 2-measuring module.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; the terms "comprising" and "having" and any variations thereof in the description of the invention and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.
Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the described embodiments of the invention may be combined with other embodiments.
In order to enable those skilled in the art to better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a roadway surface displacement real-time monitoring and early warning device based on a GNSS (Global navigation satellite System), which comprises a measuring module, a reference module and a data processing terminal, wherein a fixed base is fixed at a monitoring point on the surrounding rock surface of a roadway through a bolt, a buckle is arranged on the fixed base and used for connecting the fixed base with the measuring module, and the fixed base is fixed on the surrounding rock surface of the roadway through the bolt.
The measuring module of the embodiment comprises a GNSS receiver and an acceleration sensor, wherein the GNSS receiver can be used for receiving eight-frequency signals of a three-system, namely a China Beidou satellite navigation system, a United states global positioning system and a Russian Global satellite navigation system, and the eight-frequency signals comprise a B1/B2/B3 wave band of the BDS, a L1/L2/L5 wave band of the GPS and a G1/G2 wave band of the GLONASS. The acceleration sensor can measure real-time acceleration and transmit the real-time acceleration to the data processing terminal.
The measuring module is arranged on the surface of the surrounding rock of the roadway and is used for measuring real-time deformation data of the surrounding rock of the roadway, and the real-time deformation data comprise real-time three-dimensional coordinates and real-time acceleration.
The reference module comprises a GNSS receiver which is arranged on the ground surface, the selected position is required to meet the requirement of wide visual field and no shielding, and a plurality of satellite signals can be received simultaneously for receiving the positioning error of equipment, improving the positioning accuracy and acquiring real-time data.
The data processing terminal comprises a processor, a storage module, a display module and a data transmission module. The processor is used for running a set computer program, processing received data and generating a calculation result; the storage module is used for storing a computer program, receiving data and storing a calculation result; the display module is used for visualizing the calculation result; the data transmission module is used for data transmission among the measurement module, the reference module and the storage module of the data processing terminal. The computer program of the embodiment is used for executing the roadway surface displacement real-time monitoring and early warning method.
The device can monitor each reference module and each measuring module in the area to receive the original data, determine the three-dimensional coordinates of each reference module and each measuring module, and transmit the three-dimensional coordinates to the data processing terminal through a network.
Preferably, the data processing terminal carries out baseline calculation and data adjustment according to the original data of the reference module, judges whether the reference station is displaced according to adjustment results, and if the reference station is not displaced, the original coordinates of the reference module are credible; and when the reference module is displaced, calculating the displacement according to the adjustment result, and updating the three-dimensional coordinates of the reference station.
The measuring module collects data, the data processing center carries out real-time differential operation according to the differential correction data of the reference station and the data collected by the measuring module and the relative positioning principle, so as to obtain accurate three-dimensional coordinates of the measuring station and update the stored three-dimensional coordinates of the measuring module.
In the embodiment, a plurality of tunnel sections are arranged in the length direction of the tunnel, a plurality of monitoring points are arranged on each tunnel section, and the tunnel sections can be provided with different distances according to different monitoring precision, such as 1m, 5m, 10m and the like. In order to improve the continuity of measurement between the sections of the tunnel, monitoring points can be arranged on the central axes of the four surfaces of the tunnel and at the midpoints of the two sections. Continuously numbering the sections of each roadway one by using 1,2,3 and … …, numbering the installed measuring modules, and marking the number of the measuring modules at special points; the special points can be roadway corner points, central axis points of two sides, central axis points of a bottom plate and a top plate, and the like.
As shown in fig. 4, as an embodiment of the present invention, a rectangular roadway is taken as an example, a monitored roadway section is set at intervals of 2m in the length direction of the roadway monitoring section, the number of the end faces of the roadway in the example is a minimum number of 3, and 16 monitoring points are arranged on each roadway section and are respectively located at the corner points of the rectangular roadway, the central axis points of two sides, the central axis points of the bottom plate and the top plate and the midpoints of the selected points. Drilling holes at selected monitoring points, fixing the base on the surrounding rock 1 by using expansion bolts to penetrate through four limiting holes on the fixed base, enabling the fixed base to be tightly connected with the surface of the surrounding rock 1, and then connecting the measuring module 2 with a buckle on the fixed base to realize the installation of the measuring module 2.
In the embodiment, the ground of the roadway well in the monitoring area is selected to be far away from shielding objects such as high buildings, mountains, trees and the like, a wide sky open area is required in the visual field range, the ground surface fluctuation area is avoided, and the reference module is installed so as to ensure that a sufficient number of satellite signals can be effectively received. A plurality of reference modules can be arranged according to the roadway length, so that the availability and the fault tolerance of the system are improved.
The reference module is provided with the known accurate coordinatesAnd calculating the true position of the satellite by using the received satellite signals. The position of the reference station relative to the satellite system can be determined by measuring the propagation time difference of satellite signals, doppler effect and other methods, and the reference module generates differential correction data by using the position information measured by the reference station and other related information (such as clock calibration, atmospheric delay correction and the like), wherein the differential correction data is used for correcting the positioning error of the receiving equipment and improving the positioning precision.
The measuring module receives navigation signals of the in-orbit satellites, including the position, the speed and the time of the satellites, determines the distance by measuring the propagation time of signals from the satellites to the receiving station, and carries out baseline calculation on the three-dimensional position direction according to satellite data received by the GNSS receiver so as to obtain the space position data and the three-dimensional direction displacement information of the monitoring station, wherein the accuracy can reach millimeter level. The measurement module transmits the data to the data processing terminal in a wireless connection mode (4G, wi-Fi or Bluetooth and the like).
As shown in fig. 2 and 3, the method for monitoring the roadway surface displacement in real time by the data processing terminal in this example is as follows:
step S101: and receiving global coordinates of each monitoring point on the surface of the roadway, and establishing serial number information of each roadway section and serial number information of a measuring module.
In the example, the measurement modules which finish initial positioning are numbered, the measurement modules on the same section are used as a group to number the sections of the roadway, and the three-dimensional coordinates corresponding to each measurement module are determined so as to quickly position the section position of the roadway with displacement. In the example, the middle measuring module of the roadway bottom plate of the roadway section No. 1 is a No. 1 measuring module, and the corresponding coordinate number isNumbered in sequence until the 16 th measurement module is。
S102: and correcting the global coordinates measured by the measuring module based on the global coordinate information of the reference module to obtain the updated three-dimensional coordinate information of each monitoring point.
S103: selecting coordinates of a monitoring point of a central axis position of a mounting surface of one tunnel section as a local coordinate origin, generating data of each tunnel section, and determining the relative position of each tunnel section.
In this example, the coordinates of the first measuring moduleIs the local origin of coordinatesEstablishing a tunnel local coordinate system, determining basic position data of each section, and determining the relative position among tunnel sections. The local coordinate conversion formula is:
wherein, As the local coordinates of the object to be processed,For the local origin coordinates,Is the corresponding global coordinate.
The three-dimensional coordinate system in space has 3 base vectors, which are unit vectors respectivelyConverting the GNSS three-dimensional global coordinates into localized local coordinates to construct a three-dimensional roadway monitoring model,The unit vectors are local coordinate unit vectors respectively, and the unit vectors of the new coordinate system and the old coordinate system can be converted by the following formula:
In the middle of Is a matrix of the co-ordinate transformation coefficients,Is a global coordinate unit vector, a local coordinate unit vector, The values of (2) and (3) are 1,2 and 3.
Converting the global coordinates of the GNSS into local coordinates, wherein the formula is as follows:
In the formula, As a local coordinate vector of the object,As a global coordinate vector of the image,The vector is converted for the two origins of coordinates,
The conversion relation can be known:
i.e. global coordinates are converted into local coordinates:
s105: and judging whether the three-dimensional coordinate information of each monitoring point is changed, if not, returning to the execution step S101, and if so, updating the three-dimensional coordinate information of the monitoring point and receiving the real-time acceleration information of the measuring module.
S107: and recording single displacement, roadway surface deformation and real-time acceleration information in unit time of each coordinate update.
S108: establishing an early warning mechanism: and setting early warning signal characteristics, wherein the early warning signal characteristics comprise the total displacement and the deformation speed of the roadway, and generating early warning information for reminding related personnel based on the early warning signal characteristic values. The method can remind related personnel through the modes of an indicator lamp, a buzzer, a PC end, mobile end information and the like.
Preferably, in the embodiment, the roadway monitoring model is built and displayed in real time through the display module, so that monitoring staff can acquire the roadway real-time displacement condition more intuitively and conveniently.
Therefore, after the execution of step S103, the present example further includes step S104: and constructing a roadway monitoring model according to the position characteristics and the section change characteristics of the roadway section.
After the step S105 is executed, the method further includes a step S106: and reconstructing a roadway monitoring model for the monitoring points with the changed three-dimensional coordinate information.
In step S108, if any of the feature values of the early warning signals is greater than the set threshold, the position of the measurement module is highlighted at the display end of the roadway monitoring model, so as to remind related personnel in a visual manner.
Preferred embodiments of the present invention will be described in detail below.
In step S104, the method for constructing the roadway monitoring model according to the position features and the section change features of the roadway section comprises the following steps:
If the tunnel section is in a straight line segment, connecting corresponding points of adjacent tunnel sections, and constructing a triangular surface net by adopting a triangulation method to generate a tunnel monitoring model;
If the tunnel section is at the corner, using the adjacent three tunnel sections as a tunnel section group, calculating the local coordinates of the characteristic points at the corner, and constructing the tunnel monitoring model by using a curved surface splicing technology.
Preferably, if the tunnel section is at a corner, the construction method of the tunnel monitoring model comprises the following steps:
Uniformly discretizing the arc line segments of the three tunnel sections at the corners of the tunnel into p characteristic points, namely 48 characteristic points according to the central axis coordinates of the three tunnel sections A, B, C, and then adopting the central axis coordinates of the three tunnel sections 、、Calculating the center coordinates of three pointsThe radius R takes the circle center as a local coordinate origin, and feature point coordinates between tunnel sections are calculated according to the azimuth angle alpha of each feature point; adjacent characteristic points are connected, a triangular net is built in line-surface-body sequence, the corners are connected by using a curved surface splicing technology, a roadway monitoring model is generated,
Feature pointsCoordinates of (c)The calculation formula of (2) is as follows:
is the sequence number of the feature point,
In this example, if the section of the roadway is in a straight line segment, in the monitoring process, the processing method for the situation that the end faces of the multiple roadways are not in the straight line segment due to the local displacement deformation of the roadway is as follows:
The measurement module updates coordinates with fixed signal receiving frequency, connects adjacent roadway monitoring points, builds a triangular network in line-surface-body sequence, connects adjacent characteristic points in unchanged segments, builds the triangular network by Delaunay triangulation, builds a model by applying a Bezier curved surface and splicing of the Bezier curved surface to the changed segments between the roadway characteristic points, and generates a local roadway monitoring model.
In step S108, the roadway monitoring model outputs the result to the display terminal to form a visual interface, and a PC client and a mobile client are provided to display the monitored roadway displacement in real time in a visual manner and record the single displacementThe deformation of the tunnel surface in unit time, namely the deformation speedReal-time acceleration. The method can display the variation trend of the roadway displacement in the modes of variable-time forming charts, curves and the like on the display terminal.
Preferably, the early warning mechanism established in the embodiment uses the total displacement of the roadwayRate of deformationFractal dimensionWhen any one of the characteristic values of the early warning signals reaches or exceeds a set threshold value, a corresponding warning signal is generated, the warning signal is notified to the PC client in a popup window mode, and is notified to the mobile client in a warning bell mode, so that relevant personnel are reminded of taking necessary emergency measures.
In the example, the accumulated displacement of three direction coordinate data of each monitoring point, namely the total displacement of the roadwayThe euclidean norm is used to measure:
respectively recording the accumulated displacement in each direction, and calculating the deformation speed of the roadway surrounding rock in unit time ，
Wherein T is a unit time, and can be set to 1h, 2h, 5h, 24h, etc.
The storage module records the surface deformation data of the surrounding rock of the roadway in each time period, and evaluates the safety of the roadway according to an early warning mechanism.
Preferably, in the embodiment, an early warning model is also built to predict deformation trend, the roadway risk state is evaluated, a coping scheme is provided for a decision maker, and decision efficiency and accuracy are improved. The early warning model is established by adopting a trend algorithm, and whether the roadway surrounding rock surface deformation time sequence has state persistence is calculated by recording roadway surrounding rock surface deformation data in a period of time.
According to the trend algorithm, the evolution characteristic of the roadway surface displacement is predicted by calculating the relation between the fractal dimension D of the roadway surface displacement and the Hurst index H according to the roadway deformation characteristic, when D is more than 1.0 and less than 1.5, the roadway surrounding rock surface deformation time sequence has state persistence, and the closer D is to 1.0, the higher the sequence time persistence degree is.
The specific method for evaluating whether the roadway surrounding rock surface deformation time sequence has state persistence through fractal dimension comprises the following steps:；
(2) Constructing a regression equation of the Hurst index H, and obtaining the H value by the least square regression equation, wherein the Hurst index H is obtained by the following steps:
calculating Hurst index H by using a heavy-table range method, and equally dividing the roadway surface displacement time sequence into Sub-sequences, each sequence comprisingThe number of elements to be added to the composition,For the sequence number of the sub-sequence,The serial numbers of the elements are recorded as follows:
normalization value of sub-sequence sample data The method comprises the following steps:
wherein, For the data mean value of the sub-sequence samples,
Establishing a tunnel surface displacement accumulated time sequence：
Calculate the extremely poorStandard deviation ofExtremely poor in weight scaleThe calculation formula is as follows:
Order the ，
Logarithmically, establishing a least square regression equation to obtain a value of a Hurst index H, wherein the least square regression equation is as follows:
wherein, Is the extremely bad accumulated time sequence of the roadway surface displacement samples,As the standard deviation of the sample sequence,Is a constant value, and is used for the treatment of the skin,Is constantThe number of the digits of the data are calculated,To the power H of the number k of subsequences, H is the Hurst index; Is in combination with Corresponding accumulated time seriesOrdinal numbers of (2);
(3) Acquiring a value of a fractal dimension D based on the relationship between the fractal dimension and a Hurst index H;
(4) And based on the value of the fractal dimension D, evaluating the degree of continuity of the deformation time sequence state of the roadway surrounding rock surface.
Preferably, the present example employs a three-level early warning mechanism. Generating a corresponding early warning signal according to the numerical range of the early warning signal characteristics, wherein the early warning signal comprises: the system comprises a first-stage early warning signal, a second-stage early warning signal and a third-stage early warning signal.
The first-stage early warning signal of this example is green early warning signal, and the second-stage early warning signal is yellow early warning signal, and the third-stage early warning signal is red early warning signal.
Green early warning signal: when the roadway is in a normal use state and the deformation is in a safety range, the deformation early warning system sends out a continuous monitoring signal, the roadway monitoring model is not particularly displayed on the display terminal, and the early warning signal is green;
Yellow warning signal: when deformation abnormality occurs at a certain position of a roadway, a yellow early warning signal is sent by a deformation early warning system, the position where the deformation abnormality occurs is positioned in real time, and the roadway monitoring model highlights the abnormal position at a display terminal to remind a worker to check a roadway related area;
Red warning signal: when the roadway deformation exceeds a safety threshold, the deformation early warning system sends out a red signal, the roadway monitoring model integrally highlights the abnormal roadway at the display terminal, and the warning information is sent to the mobile terminal to remind relevant staff of immediately making emergency measures.
In this example, the early warning mechanism is:
When the total displacement of the roadway of the monitoring point is smaller than or equal to a first displacement threshold value or the deformation speed is smaller than or equal to a first speed threshold value, the roadway is monitored in real time, and a data processing terminal system sends out a first-stage early warning signal; when the total displacement of the roadway of the monitoring point is larger than a first displacement threshold and smaller than or equal to a second displacement threshold or the deformation speed is larger than a first speed threshold and smaller than or equal to a second speed threshold, positioning the section position of the roadway according to the number of the measuring module, and sending a second-stage early warning signal at the section position of the roadway to remind a worker to check the related area of the roadway; when the total displacement of the roadway of the monitoring point is larger than the second displacement threshold value or the deformation speed is larger than the second speed threshold value, a third-level early warning signal is sent to the whole roadway, the section position of the roadway is positioned according to the serial number of the measuring module, the staff is warned to make corresponding emergency measures,
At the same time, the method comprises the steps of,
When fractal dimensionWhen the roadway deformation is not provided with time persistence, the current roadway is high in safety, and the data processing terminal system sends out a first-stage early warning signal; when fractal dimensionWhen the roadway deformation is described to have time persistence, the system sends out a second-level early warning signal to remind relevant staff to improve vigilance, and the continuous deformation area is focused on; when fractal dimensionThe roadway deformation is highly continuous in time, and the system sends out a third-level early warning signal to remind relevant staff of immediately taking emergency measures to the deformation area.
The first displacement threshold value of this example isThe second displacement threshold isThe first speed threshold of this example isThe second speed threshold isOf course, the respective threshold values of the present example are not limited to the values of the present example, and may be set as required.
Compared with the prior art, the invention has the following innovation points:
(1) The invention can realize real-time continuous full-section monitoring.
The invention adopts the GNSS receiving device, has higher positioning precision, can realize millimeter-level even higher-precision displacement monitoring, can discover tiny displacement change in time, can realize roadway real-time displacement monitoring, ensures that monitoring data are more accurate in time, has the characteristic of global positioning coverage, and greatly improves the real-time performance, continuity and precision of monitoring. Meanwhile, continuous full-section monitoring of the roadway is realized by constructing a three-dimensional roadway monitoring model. The invention can obtain the real displacement of the coal rock tunnel, construct the three-dimensional position state of the tunnel in real time, and monitor the surface displacement of the tunnel continuously in real time.
(2) The invention can realize the full life cycle monitoring of the roadway.
The invention can realize the full life cycle monitoring from the tunneling construction of the tunnel to the installation and the stoping of the working face and then to the retracement of the working face and the sealing of the tunnel.
(3) The intelligent roadway decision-making system can assist monitoring personnel in making intelligent roadway decisions.
The method can realize automatic acquisition, data processing, real-time monitoring and feedback of the monitoring data, perform three-dimensional modeling according to the acquired data, perform visual management on the whole roadway, intelligently predict the roadway state based on historical data, evaluate the roadway risk state, provide a response scheme for a decision maker, and improve decision efficiency and accuracy.
The above embodiments are preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, which includes but is not limited to the embodiments, and equivalent modifications according to the present invention are within the scope of the present invention.
Claims (10)
1. Roadway surface displacement real-time monitoring and early warning device based on GNSS, its characterized in that: comprises a measuring module, a reference module and a data processing terminal, wherein,
The method comprises the steps that a plurality of tunnel sections are arranged in the length direction of a tunnel, a plurality of monitoring points are uniformly arranged on the tunnel sections, each monitoring point is fixed with a measuring module through a fixed structure, and the measuring modules are used for measuring real-time displacement data of surrounding rocks of the tunnel;
The reference module is fixed on the ground surface, the input end of the data processing terminal is respectively connected with the output ends of the measuring module and the reference module, the data processing terminal corrects the data measured by the measuring module based on the data of the reference module and monitors the roadway surface displacement in real time based on the corrected data,
The measuring module comprises a GNSS receiving device and an acceleration detecting device, the reference module adopts a GNSS receiver capable of receiving a plurality of satellite signals at the same time, the reference module is arranged on the ground surface and is far away from an open area of a shielding object, the data processing terminal carries out baseline resolving and data adjustment according to the original data of the reference module, judges whether the reference module is displaced according to adjustment results, and if the reference module is not displaced, the original coordinates of the reference module are credible; and calculating the displacement amount according to the adjustment result when the reference module is displaced, and updating the three-dimensional coordinate information of the reference module.
2. The GNSS-based roadway surface displacement real-time monitoring and early warning device of claim 1, wherein: the data processing terminal comprises a processor, a storage module, a display module and a data transmission module, wherein the processor is used for monitoring the surface displacement of a roadway in real time, the storage module is used for storing data information sent by the reference module and the measurement module and storing calculation results, the display module is used for visualizing the calculation results, and the data transmission module is used for data transmission between the data processing terminal and the reference module and between the data processing terminal and the measurement module.
3. The roadway surface displacement real-time monitoring and early warning method based on the GNSS-based roadway surface displacement real-time monitoring and early warning device disclosed in claim 1 or 2 is characterized by comprising the following steps:
S101: receiving global coordinates of each monitoring point on the surface of the roadway, and establishing serial number information of each roadway section and serial number information of a measuring module;
S102: correcting the global coordinates measured by the measuring module based on the global coordinate information of the reference module to obtain updated three-dimensional coordinate information of each monitoring point;
S103: selecting coordinates of a monitoring point of a central axis position of a mounting surface of one tunnel section as a local coordinate origin, generating data of each tunnel section, and determining the relative position of each tunnel section;
s105: judging whether the three-dimensional coordinate information of each monitoring point is changed, if not, returning to the execution step S101, if so, updating the three-dimensional coordinate information of the monitoring point, and receiving the real-time acceleration information of the measuring module;
s107: recording single displacement, roadway surface deformation and real-time acceleration information of each coordinate update;
S108: establishing an early warning mechanism: and setting early warning signal characteristics, wherein the early warning signal characteristics comprise the total displacement and the deformation speed of the roadway, and generating early warning information for reminding related personnel based on the early warning signal characteristic values.
4. A method according to claim 3, characterized in that: after the step S103 is performed, the method further includes a step S104: constructing a roadway monitoring model according to the position characteristics and the section change characteristics of the roadway section,
After the step S105 is executed, the method further includes a step S106: and reconstructing a roadway monitoring model based on the monitoring points with the changed three-dimensional coordinate information.
5. The method according to claim 4, wherein: in step S104, the method for constructing the roadway monitoring model according to the position feature and the section change feature of the roadway section comprises the following steps:
If the tunnel section is in a straight line segment, connecting corresponding points of adjacent tunnel sections, and constructing a triangular surface net by adopting a triangulation method to generate a tunnel monitoring model;
If the tunnel section is at the corner, using the adjacent three tunnel sections as a tunnel section group, calculating the local coordinates of the characteristic points at the corner, and constructing the tunnel monitoring model by using a curved surface splicing technology.
6. The method according to claim 5, wherein: if the tunnel section is at the corner, the construction method of the tunnel monitoring model comprises the following steps:
Uniformly discretizing the arc line segments of the three tunnel sections at the corners of the tunnel into p characteristic points according to the central axis coordinates of the three tunnel sections A, B, C, and obtaining the central axis coordinates of the three tunnel sections 、、Calculating the center coordinates of three pointsThe radius R takes the circle center as a local coordinate origin, and feature point coordinates between tunnel sections are calculated according to the azimuth angle alpha of each feature point; adjacent characteristic points are connected, a triangular net is built in line-surface-body sequence, the corners are connected by using a curved surface splicing technology, a roadway monitoring model is generated,
Feature pointsCoordinates of (c)The calculation formula of (2) is as follows:
wherein, 。
7. The method according to claim 4, wherein: in step S108, if any of the feature values of the early warning signals is greater than the set threshold, the position of the measurement module is highlighted at the display end of the roadway monitoring model, so as to remind related personnel in a visual manner.
8. The method according to any one of claims 3-7, wherein: in step S108, the early warning signal feature further includes a fractal dimension of the roadway surface displacement, where the fractal dimension of the roadway surface displacement is used to evaluate whether the roadway surrounding rock surface deformation time sequence has state persistence.
9. The method according to claim 8, wherein: the specific method for evaluating whether the roadway surrounding rock surface deformation time sequence has state persistence through fractal dimension comprises the following steps:
(1) Constructing a relation formula of fractal dimension and Hurst index H: ；
(2) Constructing a regression equation of the Hurst index H, and obtaining the H value by the least square regression equation, wherein the Hurst index H is obtained by the following steps:
calculating Hurst index H by using a heavy-table range method, and equally dividing the roadway surface displacement time sequence into Sub-sequences, each sequence comprisingThe number of elements to be added to the composition,For the sequence number of the sub-sequence,The serial numbers of the elements are recorded as ，
Normalization value of sub-sequence sample dataThe method comprises the following steps:
wherein, For the data mean value of the sub-sequence samples,
Establishing a tunnel surface displacement accumulated time sequence：
Calculate the extremely poorStandard deviation ofExtremely poor in weight scaleThe calculation formula is as follows:
Order the ，
Logarithmically, establishing a least square regression equation to obtain a value of a Hurst index H, wherein the least square regression equation is as follows:
wherein, Is the extremely bad accumulated time sequence of the roadway surface displacement samples,As the standard deviation of the sample sequence,Is a constant value, and is used for the treatment of the skin,Is constantThe number of the digits of the data are calculated,To the power H of the number k of subsequences, H is the Hurst index; Is in combination with Corresponding accumulated time seriesOrdinal numbers of (2);
(3) Acquiring a value of a fractal dimension D based on the relationship between the fractal dimension and a Hurst index H;
(4) And based on the value of the fractal dimension D, evaluating the degree of continuity of the deformation time sequence state of the roadway surrounding rock surface.
10. The method of claim 9, wherein the early warning mechanism is: generating a corresponding early warning signal according to the numerical range of the early warning signal characteristics, wherein the early warning signal comprises: a first-stage early warning signal, a second-stage early warning signal and a third-stage early warning signal,
When the total displacement of the roadway of the monitoring point is smaller than or equal to a first displacement threshold value or the deformation speed is smaller than or equal to a first speed threshold value, the roadway is monitored in real time, and a data processing terminal system sends out a first-stage early warning signal; when the total displacement of the roadway of the monitoring point is larger than a first displacement threshold and smaller than or equal to a second displacement threshold or the deformation speed is larger than a first speed threshold and smaller than or equal to a second speed threshold, positioning the section position of the roadway according to the number of the measuring module, and sending a second-stage early warning signal at the section position of the roadway to remind a worker to check the related area of the roadway; when the total displacement of the roadway of the monitoring point is larger than the second displacement threshold value or the deformation speed is larger than the second speed threshold value, a third-level early warning signal is sent to the whole roadway, the section position of the roadway is positioned according to the serial number of the measuring module, the staff is warned to make corresponding emergency measures,
At the same time, the method comprises the steps of,
When fractal dimensionWhen the roadway deformation is not provided with time persistence, the current roadway is high in safety, and the data processing terminal system sends out a first-stage early warning signal; when fractal dimensionWhen the roadway deformation is described to have time persistence, the system sends out a second-level early warning signal to remind relevant staff to improve vigilance, and the continuous deformation area is focused on; when fractal dimensionThe roadway deformation is highly continuous in time, and the system sends out a third-level early warning signal to remind relevant staff of immediately taking emergency measures to the deformation area.
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