CN101936714A - Entire deformation detection system of subway tunnel - Google Patents

Abstract

The invention relates to an entire deformation detection system of a subway tunnel and belongs to the field of a tunnel engineering monitoring technology. The system integrally comprises a plurality of instrument stations distributed on the inner wall of a tunnel and stop-level monitoring systems in tunnel stops, image acquisition terminals in all the instrument stations are connected into a network through an RS485 bus and connected with monitoring computers in the stop-level monitoring systems, so that coordinate displacement change information of adjacent instrument stations, which is acquired and processed by the image acquisition terminals, can be sent to the stop-level monitoring systems and tunnel deformation conditions between two stops are summarized and analyzed by the monitoring computers integrally. In the invention, a network sensor technology and an image identification technology are used for the online real-time deformation monitoring of operating subway tunnels for the first time, the deformation condition of the tunnels can be analyzed according to tunnel deformation data, and disasters caused by serious deformation conditions of the tunnels can be alarmed in time.

Description

The whole deformation detection system of subway tunnel

Technical field

The present invention relates to a kind of system of Tunnel Engineering monitoring technical field, specifically is the whole deformation detection system of a kind of subway tunnel.

Background technology

China's tunnel management and maintenance technology lag behind, and the maintenance technology standard also needs perfect, are more needing research aspect the tunnel of growing up.Though the domestic technology of having introduced complete tunnel operation supervisory system in many tunnels, effect is not satisfactory, and main cause is that control model does not gear to actual circumstances, and less what also use aspect the tunnel of growing up.Therefore studying subway tunnel operation, maintenance technology and intelligent management system seems very important, urgent.

Summary of the invention

The objective of the invention is to overcome the deficiencies in the prior art, provide a kind of subway tunnel whole deformation detection system, utilize first and adopt network sensor technology and image recognition technology that online real-time monitoring is carried out in the deformation of operated subway tunnel, according to tunnel deformation data analysis tunnel deformation situation, in time forecast the bad disaster that causes of tunnel deformation situation.

The present invention is achieved by the following technical solutions, the station level monitoring system that this entire system is included in a plurality of survey stations that distribute on the tunnel inwall and is provided with on the station, tunnel, image acquisition terminal in each survey station connects into network by the RS485 bus and is connected with monitoring computer in the level monitoring system of station, realizes the adjacent survey station coordinate displacement information that image acquisition terminal acquisition process obtains is sent to station grade monitoring system and unified tunnel deformation situation between Macro or mass analysis two stations by monitoring computer;

Described each survey station comprises that two sphere shape lights are as subject matter, two cameras, the image acquisition terminal, stabilized voltage supply, described camera comprises interconnective varifocal telephoto lens and imageing sensor, described two subject matters are located at casing two flank side surface and are provided sphere shape light in order to the camera of giving adjacent survey station, described two cameras also are located at casing two flank side surface respectively in order to take the subject matter of adjacent front and back survey station, the imageing sensor of camera is connected the signal storage that is used for gathering after the sensitization in the image acquisition terminal with described image acquisition terminal, described stabilized voltage supply respectively with subject matter, the image acquisition terminal is connected to it power supply is provided, described image acquisition terminal determines that by the match sphere shape light center of circle is as the relative coordinate between adjacent survey station and the camera with the signal Processing of gathering;

The horizontal center line of two subject matters overlaps in the described survey station, and the horizontal center line of two taking lenss also overlaps, and each device all is fixed on the casing in the survey station;

Described image acquisition terminal mainly comprises processor, outside hard disk and internal memory, clock/power module, two-way image sensor interface, LCD interface, RS232 module, RS485 module, described processor is provided with memory controller, clock/power-supply controller of electric, camera camera controller, lcd controller, communication serial port UART, wherein: described camera controller is connected with two imageing sensors by the two-way image sensor interface, in order to gather the object image information; Described communication serial port UART is connected with the S485 bus by the RS485 module, in order to each survey station is formed sensor network, and the object coordinate transition information that the image acquisition terminal processes is finished is reached grade control system of standing; Described processor is as the master chip of image acquisition terminal, finishes data processing and for system provides basic operation environment, realizes determining the relative coordinate between the center of circle and the camera to gathering the match of sphere shape light.

Two set of shots are housed on the station, the same side, the central lines of camera lens, these two camera lenses carry out forward direction and the back to measurement, the position of each survey station provides by two camera lenses like this, eliminates the influence of camera lens space corner thus.Adopt error to subdue technological means, can reduce measuring error, improve the axial whole deformation monitoring system accuracy in tunnel.If do not eliminate the attitude error of camera lens, not only reduced the positional precision of each survey station, and, will improve whole measuring error greatly by error propagation.The present invention can effectively detect the whole deformation quantity in tunnel, analyzes the sedimentation situation that obtains the tunnel in view of the above, and early warning signal in time is provided, and keeps the tunnel operation safety.

Description of drawings

Fig. 1 is an overall architecture synoptic diagram of the present invention

Fig. 2 is that the position of each equipment concerns synoptic diagram in each survey station

Fig. 3 is each functions of modules module frame chart in each survey station

Fig. 4 is the principle schematic that adjacent survey station detects the displacement change

Fig. 5 is the sphere shape light synoptic diagram

Fig. 6 is that adjacent survey station is gathered the object synoptic diagram

Fig. 7 compares synoptic diagram for the sphere shape light centre coordinate

The illustraton of model of Fig. 8 for setting up

Fig. 9 is a YZ plane partial model enlarged drawing

Figure 10 is an XY plane partial model enlarged drawing

Figure 11 is an arrangenent diagram in the survey station

Description of symbols: 1-imageing sensor 2-Varifocal zoom lens 3-image acquisition terminal 4-subject matter 5-stabilized voltage supply, 6-casing, 61-casing flank side surface

Embodiment

The invention will be further described below in conjunction with accompanying drawing.

As shown in Figure 1, the station level monitoring system that integral body of the present invention is included in a plurality of survey stations that distribute on the tunnel inwall and is provided with on the station, tunnel, image acquisition terminal in each survey station connects into network by the RS485 bus and is connected with monitoring computer in the level monitoring system of station, realizes the adjacent survey station coordinate displacement change information that image acquisition terminal acquisition process obtains is sent to station grade monitoring system and unified tunnel deformation situation between Macro or mass analysis two stations by monitoring computer.

Each survey station is as shown in Figure 2: comprise that two sphere shape lights are as subject matter 4, two cameras, image acquisition terminal 3, stabilized voltage supply 5, described camera comprises interconnective varifocal telephoto lens 2 and as the imageing sensor 1 of sensor devices CCD, described two subject matters 4 are located at 6 liang of flank side surface 61 of casing and are provided sphere shape light in order to the camera of giving adjacent survey station, described two cameras also are located at 6 liang of flank side surface 61 of casing respectively in order to take the subject matter of adjacent front and back survey station, the imageing sensor 1 of camera is connected the signal storage that is used for gathering after the sensitization in image acquisition terminal 3 with described image acquisition terminal 3, described stabilized voltage supply 5 respectively with subject matter 4, image acquisition terminal 3 is connected to it power supply is provided, described image acquisition terminal 3 is the signal Processing of gathering, by the match sphere shape light determine the center of circle as adjacent survey station and camera between relative coordinate.Each survey station gathers to the monitoring computer of described station level monitoring system with respect to the relative coordinate unification of camera, by monitoring computer by coordinate transform and corresponding error compensation being obtained the absolute coordinates in the corresponding center of circle of each survey station, more relatively before and after the variation of twice center of circle absolute coordinates obtain corresponding survey station change in displacement.

Each survey station is installed on the tunnel inwall along the axis direction in tunnel, and each survey station is on the same surface level when originally installing, and each survey station is located in the casing, and whole box body is fixed on the tunnel-side by setscrew.The horizontal center line of two subject matters overlaps as far as possible in the survey station, and the horizontal center line of two taking lenss also should overlap as far as possible, and each device all is fixed on the casing, as shown in Figure 2 in the survey station.

As shown in Figure 3, described image acquisition terminal 3 mainly comprises processor, outside hard disk and internal memory, clock/power module, two-way image sensor interface (being utilizing camera interface), LCD interface, RS232 module, RS485 module, described processor is provided with memory controller, clock/power-supply controller of electric, camera camera controller, lcd controller, communication serial port UART, wherein: described camera controller is connected with two imageing sensors 1 by the two-way image sensor interface, in order to gather the object image information; Described communication serial port UART is connected with the RS485 bus by the RS485 module, in order to each survey station is formed sensor network, and the object coordinate transition information of image acquisition terminal processes is reached grade control system of standing; Described processor is finished data processing and for system provides basic operation environment, is realized determining the center of circle to gathering the match of sphere shape light the change of time central coordinate of circle relatively successively as the master chip of image acquisition terminal.Power supply/clock module provides basic operation environment for the image acquisition terminal.

Following hardware is all prior art:

Subject matter sphere shape light: led light source

The two-way imageing sensor is used for obtaining the sphere shape light image of casing front and back respectively, selects the Ov9650 of OmniVison company for use, totally two; Varifocal zoom lens adopts Foochow to open the FS-LV05100 type zoom lens that photoelectron technology company limited produces, and focal range is 5-100mm.

Arm processor is selected the S3c2440 of SAMSUNG company for use.

Nand Flash is outside hard disk flash memory: the K9S1208VOC of SAMSUNG company, 64M size;

NOR FLASH is outside hard disk flash memory: the AM29LV160DB-90IE of AMD, 2M size;

Internal memory SDRAM model: the HY57V561620 of Hynix company, the chip of two 32M of employing, 64M altogether.

The Rs232 module adopts the SP3232EEN chip of SIPEX company, and debugging interface is provided, as the program debug exploitation in early stage.

The Rs485 module adopts the max3485 chip of MAXIM company to realize that the RS485 module is used for setting up the multinode communication network.

The LCD interface is realized touch man-machine interface by external LCD display.Described LCD display is selected 7 cun display screens of Sanyo of Shenzhen Fu Sen Electronics Co., Ltd. for use.Man-machine interface on the LCD is used for finishing the previous work of debugging, provide video demonstration, image to store and be provided with functions such as node address, by observing video, regulate camera lens and make sphere shape light in the observation area, and suitable focus and aperture size obtains best sphere shape light picture quality.

The principle of work of whole invention is: utilize varifocal telephoto lens and imageing sensor to take the subject matter of adjacent survey station, by the image acquisition terminal images acquired is handled, by detecting the sedimentation situation that obtains the tunnel that moves of subject matter.Be specially: the image acquisition terminal in each survey station distributes in order to the relative coordinate (be sphere shape light relative coordinate with respect to camera) of the light source center position in the adjacent survey station before and after detecting as the place survey station as the axis direction of main control module along the tunnel.Example for example shown in Figure 4, by the man-machine interface on the LCD, the camera lens of suitably regulating image acquisition terminal " 2 " makes the light source image of image acquisition terminal " 1 " and image acquisition terminal " 3 " be in the center, the visual field of its front and back two camera lenses.Two imageing sensors in the survey station of image acquisition terminal " 2 " place alternately obtain the light source image that sends of image acquisition terminal " 1 " and image acquisition terminal " 3 ", and this image information is simulated the home position of target light source by image acquisition terminal " 2 " processor.Take at regular intervals, calculate the side-play amount of the light source center of circle relative last time of image acquisition terminal " 1 " and image acquisition terminal " 3 " place survey station respectively.Because each survey station and tunnel inwall are rigidly connected, therefore can infer the deformation that the tunnel inwall takes place from the home position change of light source.

In the project installation process, certain distance is fixed on survey station on the tunnel inwall at interval.Distance is generally about 20m, and actual range can be done adjusting according to actual conditions.It is bigger for example deflection to occur in tunnel, bend place, survey station can be arranged closeer, as 10-12 rice.Can be far away relatively in the distance between the survey station on the straight tunnel, as 25-30 rice.The installation site of each survey station is positioned on the same surface level substantially.Each survey station all is equipped with two groups of subject matters, two group leader's zoom lens and imageing sensor and image acquisition terminal, as shown in Figure 2.Each survey station is all taken the subject matter of two adjacent with it survey stations.The target that each survey station detected is the sphere shape light of the relative avris of adjacent survey station, as shown in Figure 5, this light source shown in Figure 6 is sent by the LED in the adjacent survey station, the camera lens 2 that is connected with imageing sensor 1 is all aimed at the target light source 4 on about 30～50m place survey station, and make it image in the middle part of camera lens 2, take at regular intervals, obtain the view data of adjacent survey station target light source.As can see from Figure 6, image is imaged onto on the photosurface of imageing sensor 1 through camera lens 2, the home position that collection, storage, the calculating that the image acquisition terminal is finished view data relatively obtains target light source changes, then with this information transmission to the monitoring system of standing.As can be seen from Figure 7, displacement has taken place in X, Y direction in the match center of target light source, because imageing sensor and tunnel inwall are rigidly connected, therefore can infer that deformation has taken place the tunnel inwall from the home position change that detects target.All survey stations form network with adjacent survey station displacement information by the RS485 bus and are aggregated into monitoring system in the station simultaneously in the station, analyze the sedimentation situation that obtains the tunnel in view of the above.

Two set of shots are housed on the station, the same side, the central lines of camera lens, these two camera lenses carry out forward direction and the back to measurement, the position of each survey station provides by two camera lenses like this, eliminates the influence of camera lens space corner thus.Adopt error of the present invention to subdue technological means, can reduce measuring error, improve the axial whole deformation monitoring system accuracy in tunnel.If do not eliminate the attitude error of camera lens, not only reduced the positional precision of each survey station, and, will improve whole measuring error greatly by error propagation.

Because there is drift error in survey station self, for each survey station, mistake during there is in self; In addition, there is small space corner in the CCD camera lens in installation process, can not guarantee that objectively all camera lenses are on same straight line.The tunnel deformation monitoring adopts the distributed network smart image sensors to carry out adjacent displacement detecting, by the transmission of positioning reference, obtains the absolute displacement amount of each survey station.By of the analysis of station monitoring system, carry out the early warning of tunnel deformation state to each survey station displacement size and variation tendency.Tunnel deformation monitoring general frame such as Fig. 1.

Error propagation is analyzed and is mainly paid close attention to the deformation of tunnel axis along the transversal section.Its principle of work is: be respectively equipped with two base stations between adjacent two stations.Each survey station therebetween is provided with sphere shape light, taking lens and image acquisition terminal.Determine the deformation in tunnel by the variation of monitoring light source central coordinate of circle.Increase sensor network quantity and can simulate the displacement of tunnel axis along the transversal section.

With regard to each survey station, be furnished with the CCD camera lens of an image acquisition terminal, a led light source and image acquisition on it.In order to eliminate of the influence of taking lens attitude as far as possible to image data, be furnished with two camera lenses on each survey station, a camera lens is used to take the light source of back one survey station, the light source of the last survey station of another lens shooting.Its layout as shown in figure 11.Eliminate the method for error and will do detailed elaboration hereinafter.

Because except two reference points (being located between adjacent two stations), the coordinate of middle measuring point is relative coordinate, when being converted into absolute coordinates, there is the error propagation problem, when the middle error of certain some absolute coordinates surpasses the deformation quantity in tunnel, the measurement data of back millet cake will lose meaning.This just highlights and carries out the importance that error propagation is analyzed, and by the analysis to error propagation, can be the type selecting of camera lens, and the improvement of algorithm etc. provides theoretical foundation.

The foundation of error analysis model

Because survey station self exists drift error and image to have Algorithm Error in leaching process, for each survey station, there is a middle error in self, is made as m.Consider that there is small space corner in the CCD camera lens in installation process, camera lens that can not be all is on same straight line.But can guarantee that two camera lenses are on same straight line on the same survey station.Utilize two camera lenses on the same survey station carry out forward direction and back to duplicate measurements, can eliminate the influence of space corner.The space corner is projected to vertical direction YZ plane and horizontal direction XY plane, can set up following mathematical model.Suppose that the distance between each measuring point equates, does not consider along the skew of vertical Y of tunnel axis.(because the subtle change of camera lens on the tunnel axis direction is very little to the data acquisition influence of camera lens)

According to how much general knowledge, the calculating thinking that Space Angle projects to YZ plane and XY plane is identical, is that example is carried out modeling with the YZ plane below, and the calculating in the XY plane can be calculated with reference to this model.According to the actual conditions of system, set up illustraton of model such as Fig. 8 (get the first five point, the point of back is obtained by corresponding recursion formula).

According to hypothesis, l is arranged ₁=l ₂=...=l _n=l.z _mThe absolute coordinates of representing this point, z _IjMiddle i represents camera lens loca position, and j represents the measurement point position.Be calculated as follows:

z ₁＝z ₀₁ (1)

$\tan {\mathrm{\θ}}_1=\frac{z_{01}+z_{10}}{l_1}---\left(2\right)$

$\tan {\mathrm{\θ}}_1=\frac{-z_{01}}{y_1}---\left(3\right)$

y ₂＝l ₂-y ₁ (4)

z′ ₂＝-y ₂×tanθ ₁＝-(l ₂-y ₁)tanθ ₁

(5)

＝-z ₁₀-2z ₀₁＝-z ₁₀-2z ₁

z ₂＝z ₁₂-z′ ₂-z ₀ (6)

＝z ₁₂+z ₁₀-z ₀+2z ₁

$\tan {\mathrm{\θ}}_2=-\frac{z_{21}+z_2-z_1}{l_2}---\left(7\right)$

z′ ₃＝l ₃?tanθ ₂＝-(z ₂₁+z ₂-z ₀₁) (8)

z ₃＝z ₂₁+z ₂₃-z ₁+2z ₂ (9)

By that analogy.。。。。。

z _n＝z _n1，n+z _n-1，n-2-z _n-2+2z _n-1 (10)

Can obtain z by above recursion formula _nComputing formula:

z _n＝[z _n-1，n+z _n-1，n-2+2z _n-2，n-3+2z _n-2，n-4 (11)

+......+(n-1)z ₁₀+(n-1)z ₁₂]-(n-1)z ₀+nz ₁

Adopt a measuring point front and back image data and consider that installation waits the external action meeting to produce error propagation and accumulation, the middle error that can be got n point by law of propagation of errors calculating is:

$m_{z_n}=\&PlusMinus;\sqrt{{m_{z_{n-1,\mathrm{<figure-callout\; id="2"\; label="n"\; filenames="HSA00000230204500012.png,HSA00000230204500042.png"\; state="\{\{state\}\}">n</figure-callout>}}}}^2+{m_{z_{n-1,n-2}}}^2+...+{(n-1)}^2{m_{{\mathrm{<figure-callout\; id="12"\; label="z"\; filenames="HSA00000230204500042.png,HSA00000230204500051.png"\; state="\{\{state\}\}">z</figure-callout>}}_{12}}}^2+{(n-1)}^2{m_{z_{10}}}^2+n^2{m_{z_1}}^2}---\left(12\right)$

Middle relatively error for each measuring point can adopt repeatedly to measure and determine.Method is: light source fixed, and with a camera duplicate measurements multi-group data.As: X1, X2, X3 ... ..Xn.Calculate wherein error m, and carry out rough error and differentiate (adopting 2 σ criterions) and rejecting, obtain final middle error.With m _InError as this measuring system.

Under the metastable situation of system, the numerical approximation of the middle error that above method records equates that in order to study conveniently, we are taken as m _YZSo following formula becomes:

$m_{z_n}=\sqrt{2[1^2+...+{(n-1)}^2]{{\mathrm{<figure-callout\; id="2"\; label="m\; YZ"\; filenames="HSA00000230204500012.png,HSA00000230204500042.png"\; state="\{\{state\}\}">m</figure-callout>}}_{\mathrm{YZ}}}^2+n^2{m_{\mathrm{YZ}}}^2}---\left(13\right)$

$m_{z_n}=\sqrt{\frac{{2\mathrm{<figure-callout\; id="3"\; label="n"\; filenames="HSA00000230204500042.png,HSA00000230204500051.png"\; state="\{\{state\}\}">n</figure-callout>}}^3+n}{3}}{m}_{\mathrm{YZ}}---\left(14\right)$

For the XY plane, its model and YZ plane are unanimous on the whole, as Fig. 9, Figure 10 XY plane partial model enlarged drawing.

According to the model analysis on YZ plane, (the camera lens model of actual conditions measuring point is the same, and middle error is basic equating) is made as m under the situation that error is identical in each measuring point _XY, XY plane error propagation formula is:

$m_{x_n}=\sqrt{2[1^2+...+{(n-1)}^2]{{\mathrm{<figure-callout\; id="2"\; label="m\; XY"\; filenames="HSA00000230204500012.png,HSA00000230204500042.png"\; state="\{\{state\}\}">m</figure-callout>}}_{\mathrm{XY}}}^2+n^2{m_{\mathrm{XY}}}^2}---\left(15\right)$

$m_{x_n}=\sqrt{\frac{2{\mathrm{<figure-callout\; id="3"\; label="n"\; filenames="HSA00000230204500042.png,HSA00000230204500051.png"\; state="\{\{state\}\}">n</figure-callout>}}^3+n}{3}}{m}_{\mathrm{XY}}---\left(16\right)$

Total middle error is under the final consideration camera lens attitude situation:

$m_{\mathrm{\&Delta;}}=\sqrt{\frac{2{\mathrm{<figure-callout\; id="3"\; label="n"\; filenames="HSA00000230204500042.png,HSA00000230204500051.png"\; state="\{\{state\}\}">n</figure-callout>}}^3+n}{3}}\sqrt{{m_{\mathrm{<figure-callout\; id="2"\; label="XY"\; filenames="HSA00000230204500012.png,HSA00000230204500042.png"\; state="\{\{state\}\}">XY</figure-callout>}}}^2+{m_{\mathrm{YZ}}}^2}---\left(17\right)$

Work as m _XY=m _YZSituation under (the camera lens model of actual conditions measuring point is the same, and error is basic equating in two planes), be made as m, then formula (17) becomes:

$m_{\mathrm{\&Delta;}}=\sqrt{\frac{4{\mathrm{<figure-callout\; id="3"\; label="n"\; filenames="HSA00000230204500042.png,HSA00000230204500051.png"\; state="\{\{state\}\}">n</figure-callout>}}^3+2n}{3}}m---\left(18\right)$

Adopt the method, the measuring error that attitude produces in the time of can eliminating owing to the taking lens installation.Reduce measuring error thus, improve the precision of tunnel whole deformation monitoring system.Tunnel whole deformation monitoring system can effectively detect the whole deformation quantity in tunnel, analyzes the sedimentation situation that obtains the tunnel in view of the above, and early warning signal in time is provided, and keeps the tunnel operation safety.

Claims (1)

1. the whole deformation detection system of a subway tunnel, it is characterized in that, the station level monitoring system that this entire system is included in a plurality of survey stations that distribute on the tunnel inwall and is provided with on the station, tunnel, image acquisition terminal in each survey station connects into network by the RS485 bus and is connected with monitoring computer in the level monitoring system of station, realizes the adjacent survey station coordinate displacement information that image acquisition terminal acquisition process obtains is sent to station grade monitoring system and unified tunnel deformation situation between Macro or mass analysis two stations by monitoring computer;

Described each survey station comprises that two sphere shape lights are as subject matter, two cameras, the image acquisition terminal, stabilized voltage supply, described camera comprises interconnective varifocal telephoto lens and imageing sensor, described two subject matters are located at casing two flank side surface and are provided sphere shape light in order to the camera of giving adjacent survey station, described two cameras also are located at casing two flank side surface respectively in order to take the subject matter of adjacent front and back survey station, the imageing sensor of camera is connected the image that is used for gathering after the sensitization with described image acquisition terminal and is stored in the image acquisition terminal, described stabilized voltage supply respectively with subject matter, the image acquisition terminal is connected to it power supply is provided, described image acquisition terminal determines that by the match sphere shape light center of circle is as the relative coordinate between adjacent survey station and the camera with the signal Processing of gathering;

The horizontal center line of two subject matters overlaps in the described survey station, and the horizontal center line of two taking lenss also overlaps, and each device all is fixed on the casing in the survey station;

Described image acquisition terminal mainly comprises processor, outside hard disk and internal memory, clock/power module, two-way image sensor interface, LCD interface, RS232 module, RS485 module, described processor is provided with memory controller, clock/power-supply controller of electric, camera camera controller, lcd controller, communication serial port UART, wherein: described camera controller is connected with two imageing sensors by the two-way image sensor interface, in order to gather the object image information; Described communication serial port UART is connected with the S485 bus by the RS485 module, in order to each survey station is formed sensor network, and the object coordinate transition information that the image acquisition terminal processes is finished is reached grade control system of standing; Described processor is as the master chip of image acquisition terminal, finishes data processing and for system provides basic operation environment, realizes determining the relative coordinate between the center of circle and the camera to gathering the match of sphere shape light.

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