CN110487242A - A kind of monitoring system of tunnel ground surface sedimentation - Google Patents
A kind of monitoring system of tunnel ground surface sedimentation Download PDFInfo
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- CN110487242A CN110487242A CN201910947163.3A CN201910947163A CN110487242A CN 110487242 A CN110487242 A CN 110487242A CN 201910947163 A CN201910947163 A CN 201910947163A CN 110487242 A CN110487242 A CN 110487242A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 114
- 238000004062 sedimentation Methods 0.000 title claims abstract description 26
- 238000000034 method Methods 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 238000012545 processing Methods 0.000 claims abstract description 18
- 239000011159 matrix material Substances 0.000 claims description 3
- 238000007430 reference method Methods 0.000 claims description 3
- 238000002203 pretreatment Methods 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000005094 computer simulation Methods 0.000 abstract 1
- 239000000463 material Substances 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention patent relates to the monitoring systems that a kind of tunnel ground surface to intelligent measuring technology field settles, it is mainly by unmanned plane subsystem, data acquisition subsystem, data transmission sub-system, data process subsystem composition, the ground surface setting monitoring basic point in tunnel, remaining monitoring point is arranged using bikini setting method, binocular camera is installed below unmanned plane and airborne laser range finder hovers over right above monitoring basic point, using binocular camera by collected tunnel ground surface image, data processing computer is sent to by radio transmitting device, computer models obtained ground surface image according to SIFT algorithm, front and back three-dimensional information is compared, obtain tunnel ground surface sedimentation information, and settling amount is monitored and early warning.The present invention can be by laying less monitoring point, and acquisition is more accurate, comprehensive, effectively monitors settling amount, and round-the-clock to settling amount progress real-time monitoring.
Description
Technical field
The present invention relates to intelligent measuring technology fields, are related specifically to a kind of monitoring system of tunnel ground surface sedimentation.
Background technique
As China's economy quickly develops, the paces of urbanization are also gradually accelerated, and subway line builds also constantly increasing
Add.The intersection of new and old route so that existing Railway situation becomes complicated, inevitably to tunnel build increase it is more
Risk how more effectively to monitor that sedimentation information becomes particularly important therefore in constructing tunnel.
Existing settlement monitoring means mainly use personal monitoring, using the engineerings such as total station instrument to monitoring point and
Sedimentation difference between basic point measures, so that the settling amount of each monitoring point is obtained, but during practical operation,
Due to artificial, weather, landform etc., round-the-clock monitoring can not be carried out to ground surface and low-lying ground surface, and often very
Eventful former capital be it is sudden, this has resulted in time giving warning in advance to accident.Since traditional monitoring means are to adopt
It is manually monitored, monitoring time was focused mostly in the work hours, and monitoring personnel needs to stay in for a long time beside instrument, was wasted
A large amount of manpower and material resources.Further in view of night working situation is less and light source underexposure, settling amount monitoring will lead to
Numerical value is not accurate enough.To sum up, traditional monitoring means not only waste a large amount of manpower and material resources, also exist in terms of accident early warning
It is many insufficient.The present invention utilizes image processing techniques by the binocular camera being mounted on unmanned plane, it is established that monitoring earth's surface
The three-dimensional information in face settles tunnel ground surface and carries out real-time monitoring, and the alarm device of connection abnormal to sedimentation can carry out early warning.
Summary of the invention
It is inaccurate present invention aim to address existing monitoring means and can not monitor in real time and the drawbacks of early warning, mention
Supplied a kind of monitoring system of tunnel ground surface sedimentation, can round-the-clock monitoring ground settlement, solve existing monitoring means
Problem has saved manpower and material resources, greatly before accident generation, carries out early warning to accident.
The invention is realized in this way a kind of monitoring system of tunnel ground surface sedimentation, mainly by unmanned plane subsystem, number
According to acquisition subsystem, data transmission sub-system, data process subsystem composition, the unmanned plane subsystem, by unmanned plane, fixation
Device, airborne laser range finder, composition, which is characterized in that fixed device, the fixed device connection are connected with below the unmanned plane
There is airborne laser range finder, ground surface setting monitoring basic point, is arranged remaining monitoring point using line-of-sight course, it is characterised in that in tunnel in tunnel
Monitoring point x1 is chosen at genuine surface settlement place edge, and monitoring point is arranged according to the length of two camera coverage circle intersections
The intersection point distance setting monitoring point x3 at x2, the static coverage of camera and place edge, is arranged multiple monitorings according to the method
Point, the unmanned plane vertically hover right above the monitoring basic point；The data acquisition subsystem, by binocular camera, entirely
Scape laser projection light source composition, it is characterised in that the binocular camera is fixed below unmanned plane by the fixed device,
Binocular camera is used to acquire the image of ground surface, is equipped with panorama laser projection light source above the monitoring point；The data
Transmission subsystem, by wireless transmission transmitting terminal, radio transceiver end composition, it is characterised in that the wireless transmission transmitting terminal peace
Mounted in the binocular camera shooting head-tail, the radio transceiver end is connect with computer, and wireless transmission transmitting terminal passes through wireless
The image of the collected tunnel ground surface of binocular camera is sent the radio transceiver end by transmission；The data processing
Subsystem is made of computer, alarm device, it is characterised in that computer is connected with radio transceiver end and alarm device, described
Collected ground surface image is carried out data processing by computer, constructs the threedimensional model of monitoring ground surface, the three-dimensional mould
For reflecting, ground surface settles information to type between monitoring basic point and monitoring point.
Further, according to the project profile of surveyed engineering project, monitoring base position is chosen；According to selected monitoring base
Point position determines remaining monitoring point using line-of-sight course, and in tunnel, monitoring point x1 is chosen at ground surface sedimentation place edge, according to two
Monitoring point x2, the intersection point distance of the static coverage of camera and place edge is arranged in the length of camera coverage circle intersection
Monitoring point x3 is set, multiple monitoring points are set according to the method；Panorama laser projection light source is installed on the monitoring point, entirely
Scape laser projection light source is used for the reflection source of binocular camera shooting when night or poor visibility.
Further, the monitoring basic point passes through the airborne laser range finder being mounted below unmanned plane for the unmanned plane that hovers
Available unmanned plane is relative to basic point height；Equipped with binocular camera below the unmanned plane, binocular camera is for adopting
Monitor set ground surface image；Binocular camera Zhang Shi plane reference method obtains video camera basis matrix；It is calculated using SIFT
Method matches the same characteristic point in the picture of two video cameras shooting, transfers data to data process subsystem；It is described
Data process subsystem carries out modeling pre-treatment to image data, and obtained processing data are carried out three-dimensional modeling；Pass through institute
Obtained threedimensional model, the sedimentation variable quantity of the monitoring point at monitoring, when settling amount reaches the limit value being previously set, alarm device
It can sound the alarm.
Compared with prior art, beneficial effects of the present invention: the present invention is a kind of monitoring system of tunnel ground surface sedimentation,
By the image for the ground surface that binocular camera takes, the threedimensional model of ground surface is set up with computer, it can be more intuitive
The sedimentation information for monitoring multiple monitoring points ground settlement can be carried out round-the-clock using unmanned plane and binocular camera
Monitoring in real time, overcomes the subjective error of personal monitoring；When in use, since night light source is insufficient, in monitoring point, installation is complete
Scape laser projection light source improves the ability of night monitoring；When sedimentation value is greater than limit value, it is connected to the alarm device meeting of computer
It sounds an alarm, improves the prevention ability of accident, reduce the generation of accident.
Detailed description of the invention
Fig. 1 is the sedimentation monitoring system monitoring schematic diagram of tunnel ground surface of the present invention.
Fig. 2 is the sedimentation monitoring system monitoring flow chart of tunnel ground surface.
Fig. 3 is the sedimentation monitoring system line-of-sight course schematic diagram of tunnel ground surface.
In figure: 1. unmanned plane subsystems, 2. data acquisition subsystems, 3. data transmission sub-systems, 4. data processing subsystems
System, 5. unmanned planes, 6. monitoring basic points, 7. monitoring points, 8. panorama laser projection light sources, 9. binocular cameras, 10. fixed devices,
11. airborne laser range finder, 12. radio transmission apparatus transmitting terminals, 13. radio transmission apparatus receiving ends, 14. data processing computers,
15 alarm devices.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
As shown in Figure 1, the present invention is mainly by unmanned plane subsystem [1], data acquisition subsystem [2], data transmission system
It unites [3], data process subsystem [4] composition,
Unmanned plane subsystem [1], in tunnel, ground surface setting monitoring basic point [6] and monitoring point [7], is used above monitoring point
Bolt installs panorama laser projection light source [8], and the binocular camera [9] for acquiring data is passed through fixed device [10] and is mounted on
Below unmanned plane [5], airborne laser range finder [11] is mounted below unmanned plane, and it is high that unmanned plane hovered over distance monitoring base when monitoring
Degree is H0Place.
Specifically, multiple monitoring points are arranged using line-of-sight course in tunnel ground surface, monitoring point is numbered, panorama is swashed
Light projection light source is fixed on monitoring basic point, guarantee not have between monitoring basic point light source irradiation less than place, panorama laser projection
Light source links together, and is automatically turned on using light sensation controller control night, and the fixed device of binocular camera can be controlled remotely
Binocular camera rotates upwardly and downwardly.
Data acquisition subsystem [2] includes the binocular camera [9] being mounted under unmanned plane [5], binocular camera [9]
Before work, by Zhang Shi plane reference method, obtains its inner parameter, basis matrix and pass through peace when binocular camera [9] works
The transmitting terminal [12] of radio transmission apparatus on binocular camera [9], by the ground surface image transmitting taken to processing
Subsystem [4], data transmission sub-system [3] is by the transmitting terminal [12] that is mounted on binocular camera [9] and is mounted on processing eventually
Hold wireless device receiving end [13] composition of [14], it is characterised in that binocular camera is acquired by radio signal transmission
Data are transferred to data process subsystem [4], the data process subsystem [4], by data processing computer [14] and alarm
Device [15] composition, data processing computer [14] receive the collected ground surface image of binocular camera [9] by receiving end
The image data received is carried out pre-noise reduction processing by data, computer.
Further, acquired image is matched same in the picture of two video cameras shooting using SIFT algorithm
One characteristic point, the three-dimensional image of tunnel ground surface is established out with three-dimensional modeling.
Specifically, Scale invariant features transform (Scale-invariant feature transform, SIFT), is to use
In a kind of description of field of image processing.This description has scale invariability, can detect key point in the picture, is a kind of
Local feature description's.SIFT feature be the point of interest based on some local appearances on object and with the size and rotation of image
It is unrelated.The tolerance changed for light, noise, micro- visual angle is also quite high.Based on these characteristics, they be highly significant and
It is relatively easy to capture, in the huge property data base of female number, it is easy to recognize object and rarely have misidentification.Use SIFT feature
It is also quite high to describe the detecting rate covered for fractional object, or even 3 or more SIFT object features is only needed just to be enough to count
Calculate position and orientation.Under the conditions of under computer hardware speed now with small-sized property data base, identification speed is close to
Real-time operation.SIFT feature contains much information, and is suitble to quick and precisely match in high-volume database, by collected ground surface figure
As carrying out characteristic matching by SIFT algorithm, the same characteristic point can be fast and accurately determined.
Further, established three-dimensional image initial data is compared with freshly harvested data, finds out change
Shape value of delta, required value of delta are monitoring point [7] relative to ground surface settling amount between monitoring basic point [6], utilize unmanned plane
Can be with long working the characteristics of, can carry out round-the-clock record to subsidence value,
Further, subsidence value δ is monitored in real time, according to construction requirement, passes through data processing computer
[14] settling amount threshold limiting δ is set out1, as δ >=δ1When, the alarm device [15] of data processing computer [14] connection can be right
Sedimentation is abnormal to be sounded an alarm.
In the present embodiment, unmanned plane is equipped with binocular camera and is shot, compared to existing monitoring method, by ground
Shape interference is smaller, to total station monitor less than low-lying ground, have better monitoring effect, fixed below unmanned plane fills
It sets, can rotate upwardly and downwardly, can comprehensively take ground surface image, terrestrial operation can be made with real-time control drone status
What must be monitored is more efficient.
Further, monitoring point is multiple, and monitoring point is equipped with panorama laser projection light source, compared to existing monitoring side
Method overcomes the disadvantage that night monitoring effect is bad, error is larger, avoids the drawbacks of personal monitoring brings.
In the present embodiment, airborne laser range finder is installed on unmanned plane, can more efficiency acquisition unmanned plane it is opposite
In the height of basic point, when unmanned plane carries out operation, long battery life, can be to tunnel earth's surface compared to existing personal monitoring's means
Face carries out round-the-clock real-time monitoring, meets the requirement of tunnel subsidence monitoring.
Further, computer used in data process subsystem is equipped with alarm device, by the ground taken
Surface image carries out noise reduction process, reduces image error, establishes threedimensional model using image data, can be more intuitive
To sedimentation information, when the obtained sedimentation information of processing is more than, when the limit value of computer settings, the alarm device of connection can issue police
Report quickly carries out early warning to accident, is effectively reduced the generation of accident.
As shown in figure 3, in tunnel, monitoring point x1, root are chosen in ground surface sedimentation place edge when line-of-sight course arranges monitoring point
According to the length Y of two camera coverage circle intersections, monitoring point x2, the static coverage of camera and place edge are set
Monitoring point x3 is arranged in intersection point distance X, is arranged monitoring point with 2X spacing between two monitoring points of same level, next row monitoring point with
The distance between upper row monitoring point horizontal line is Y, remaining monitoring point is arranged according to the method, until place covering will be monitored.In
It, can be comprehensive to monitor place sedimentation, save the cost by less arrangement monitoring point in this method.
Claims (3)
1. a kind of monitoring system of tunnel ground surface sedimentation, the monitoring system is mainly by unmanned plane subsystem, data acquisition
System, data transmission sub-system, data process subsystem composition；The unmanned plane subsystem by unmanned plane, fixed device, swashs
Ligh-ranging device, composition, which is characterized in that be connected with fixed device below the unmanned plane, the fixed device is connected with laser
Range finder, the ground surface setting monitoring basic point and monitoring point in tunnel, the unmanned plane vertically hover in the monitoring basic point just on
Side；The data acquisition subsystem is made of, it is characterised in that the binocular is taken the photograph binocular camera, panorama laser projection light source
As head is fixed below unmanned plane by the fixed device, binocular camera is used to acquire the image of ground surface, the monitoring
Point is equipped with panorama laser projection light source above；The data transmission sub-system, by wireless transmission transmitting terminal, radio transceiver
End composition, it is characterised in that the wireless transmission transmitting terminal is mounted on the binocular camera shooting head-tail, the radio transceiver
End is connect with computer, and wireless transmission transmitting terminal is by being wirelessly transferred the image of the collected tunnel ground surface of binocular camera
It is sent to the radio transceiver end；The data process subsystem is made of computer, alarm device, it is characterised in that meter
Calculation machine is connected with radio transceiver end and alarm device, and collected ground surface image is carried out data processing by the computer,
The threedimensional model of monitoring ground surface is constructed, ground surface settles the threedimensional model between monitoring basic point and monitoring point for reflecting
Information.
2. a kind of monitoring system of tunnel ground surface sedimentation according to right 1, it is characterised in that according to surveyed engineering project
Project profile, choose monitoring base position；Remaining monitoring point is determined using line-of-sight course, it is characterised in that the monitoring point is more
It is a, first monitoring point x1 is chosen at tunnel ground surface monitoring range edge, and remaining monitoring is determined according to camera coverage
Point；Panorama laser projection light source is installed on the monitoring point, panorama laser projection light source is poor for night or visibility
When binocular camera shooting reflection source.
3. a kind of monitoring system of tunnel ground surface sedimentation according to right 1, which is characterized in that the monitoring method used
It is mounted in the acquisition that binocular camera below unmanned plane carries out settling data, the height relative to basic point of unmanned plane passes through peace
Airborne laser range finder measurement below unmanned plane obtains；Binocular camera Zhang Shi plane reference method, is imaged
Machine basis matrix；Go out the same characteristic point in the picture of two video cameras shooting using SIFT algorithmic match, data are transmitted
To data process subsystem；The data process subsystem carries out modeling pre-treatment to image data, by obtained processing number
According to progress three-dimensional modeling；By obtained threedimensional model, the sedimentation variable quantity of the monitoring point at monitoring, when settling amount reaches
The limit value being previously set, alarm device can sound the alarm.
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| CN111272142A (en) * | 2020-03-30 | 2020-06-12 | 广州市重点公共建设项目管理中心 | High formwork settlement monitoring device and method |
| CN111719603A (en) * | 2020-07-03 | 2020-09-29 | 山东地矿开元勘察施工总公司 | Foundation pit monitoring method based on unmanned aerial vehicle |
| CN114088054A (en) * | 2021-11-17 | 2022-02-25 | 广州市市政工程试验检测有限公司 | Automatic monitoring method for longitudinal differential settlement of underground structure |
| CN114483068A (en) * | 2022-03-03 | 2022-05-13 | 北京市轨道交通建设管理有限公司 | Double-hole overlapping shield tunnel construction control method |
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