CN105258885A - Introspection magnetic inertial navigation monitoring system for dam - Google Patents

Introspection magnetic inertial navigation monitoring system for dam Download PDF

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Publication number
CN105258885A
CN105258885A CN201510747633.3A CN201510747633A CN105258885A CN 105258885 A CN105258885 A CN 105258885A CN 201510747633 A CN201510747633 A CN 201510747633A CN 105258885 A CN105258885 A CN 105258885A
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China
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monitoring
dam
traction rope
inertial navigation
guide wheel
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CN105258885B (en
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蔡德所
朱永国
李昌彩
方建新
黎佛林
廖铖
王一立
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Guodian Daduhe Monkey Cancer Water Power Construction Co Ltd
China Three Gorges University CTGU
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Guodian Daduhe Monkey Cancer Water Power Construction Co Ltd
China Three Gorges University CTGU
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Abstract

The invention provides an introspection magnetic inertial navigation monitoring system for a dam. A flexible detecting tube is embedded in the dam body; a monitoring device walking along the flexible detecting tube is arranged in the flexible detecting tube; a triaxial magnetic flux door sensor and an accelerometer are arranged in the monitoring device; and a calculation chip is arranged in the monitoring device. By means of the combination of the flexible detecting tube and the monitoring device with the triaxial magnetic flux door sensor and the accelerometer, the introspection magnetic inertial navigation monitoring system for a dam can improve the monitoring accuracy and overcome the problem that an existing fiber gyroscope is great in the accumulated error and the zero drift error is difficult to compensate, and takes an almost changeless geomagnetic sensing line as the measuring reference and improves the data accuracy obtained by the whole monitoring device. By coordinating with the high-accuracy accelerometer and other devices, the introspection magnetic inertial navigation monitoring system for a dam can further improve the measuring accuracy of the data and greatly reduce the engineering cost. For the introspection magnetic inertial navigation monitoring system for a dam, the accuracy for flexibility deformation of the flexible detecting tube can reach 1 millimeter.

Description

Magnetic inertial navigation monitoring system is seen in dam
Technical field
The present invention relates in building and Hydraulic Engineering Survey device field, particularly a kind of dam and see magnetic inertial navigation monitoring system.The present invention is particularly useful for various types of super-high rockfill dam, as seen magnetic inertial navigation monitoring in the engineering such as core wall rockfill dam, Concrete Face Rockfill Dam, also can be used for the engineering such as road and bridge.
Background technology
Along with the Construction and development of hydraulic engineering, this field of dam safety monitoring has become the indispensable part of Dam Construction.Dam safety monitoring is the effective means understanding dam running status and situation, is also the important means ensureing property safety and life security simultaneously.Small and exquisite simple, antijamming capability strong, good endurance, precision are high and measurement range is wide monitoring instrument is the development trend in dam safety monitoring future.
Domestic at present for Concrete Face Rockfill Dam sedimentation, the normal water-pipe type settlement instrument that adopts is observed, and the method is the principle based on linker.In numerous earth and rockfill dam at home and rock settlement observation, there is the example of water-pipe type settlement instrument successful Application.As all used water-pipe type settlement instrument observation dam body inner sedimentation (Fu Laitasi, 2000 in the dam engineerings such as Tianshengqiao First cascade Hydropower Station, water Bu Ya power station; Li Jinfeng, 2006), in Xiaolangdi Dam, then use steel chord type settlement gauge and sedimentation plate as inner settlement monitoring system (Li Zhen, 2004).The Observation principle of water-pipe type settlement instrument is simple, workable, and cases of engineering enriches, and can realize Aulomatizeted Detect in conjunction with Modern Transducer Technology.Traditional type sedimentometer weak point is that observed result is subject to the disturbing effect of the envirment factor such as air pressure, temperature comparatively large, and settlement monitoring is point type observation, and a section arranges that quantity is probably 4/100 meters, and very large to construction interference, expense is more expensive.There is a mortality shortcoming in tradition sedimentometer, i.e. endurance issues, dam safety is inversely proportional to often with operation year number, the sedimentometer being embedded in dam body inside is generally better in the operational effect at monitoring initial stage, but there will be instrument and equipment damage in the later stage and the problem of renewal cannot be keeped in repair, because dam body can not be emptied in order to keep in repair or change parts.As in Xiaolangdi Dam settlement monitoring, settlement gauge exceeds instrument setting range and cause it to lose efficacy because dam body settlement amount, and crash rate reaches 70%, and sedimentation plate causes body not smooth because of inclinometer pipe body squeeze crack or flexural deformation, the instrument of 82% cannot be observed (Li Zhen, 2004) normally.
For rock, panel deformation is a topmost part in dam deformation observation, the routine observation instrument of panel deformation is level type tiltmeter, which overcomes the restriction that the sonde-type tiltmeters such as mechanical type, force balance type, hydrostatic formula are grown at high hydraulic pressure and route.In domestic two the highest large rocks at present, the level device observation panel deformation all used, wherein have three measuring frequency sections, 60 some positions to arrange stationary slope level and level device in Tianshengqiao First cascade Hydropower Station, level device is at the reading comparatively accurate (Peng Bairong, 2000) at observation initial stage.In water cloth a strip of land between hills rock that the world is the highest, arrange fixed inclinator at three sections equally, bury 45 tiltmeter observation panel deformations altogether underground in maximum section 0+212 pile No..This fixed inclinator overcomes the environment of high hydraulic pressure, structure is simple, stable performance, affordable (Tianshengqiao First cascade Hydropower Station total price is below 1,000,000 dollars), and easy for installation, accuracy of reading (Peng Bairong, 2000) in the early stage.But the electrode of level device is subject to the impact such as electrolytic action and electrolyte property change, and the long-time stability of instrument are bad, and solution leakage and liquid degeneration also can cause observational error.At Shui Buya 0+212 section, tiltmeter spoilage is 54%, and electrolytic solution inclinator (level device) measured value stability very poor (Li Folin, 2013).The observation of fixed inclinator be the inclination angle of part point position, average density is 1/10 meters, and be converted into panel deflection value error comparatively large, mortality shortcoming to safeguard fixed inclinator and to upgrade, Continuous Observation is had difficulties, and particularly dam body long-time running observation cannot ensure.
In novel observation procedure and observation instrument, the Cai De of Hubei Qingjiang Shuibuya Engineering Construction Company wait actual conditions according to water cloth a strip of land between hills engineering, have developed fibre optic gyroscope systematic observation panel deflection and dam body settlement, and applied for serial Chinese invention patent CN1558182, CN1558181, CN1940473, CN2681081.Optical fibre gyro system measurement dam body settlement and panel deflection are according to Sagnac effect principle, when optical fibre gyro relative inertness space is rotated with rotating speed Ω, the direction of propagation that Shu Guang consistent with rotation direction arrives detector by prior to the direction of propagation and inconsistent that bundle light of rotation direction, produce a nonreciprocal optical path difference, be converted into Sagnac phase shift variations.Utilize the principle of interference of light to measure Sagnac phase shift variations, the value of rotating speed Ω can be obtained, this value under fibre optic gyroscope uniform speed motion state with panel deflection or dam body settlement proportional.If when optical fibre gyro relative inertness space is static, in fiber turns, two to arrange the light path of the light wave propagated in opposite direction identical, and optical path difference is zero, and deflection value is zero.This system is successfully applied in the hydroelectric project such as Guilin Si Anjiang dam (Cai Desuo, 2006), Guizhou Dongjing hydropower station (Song Wanshi, 2009) continuously.This measuring system overcomes numerous defects of above-mentioned traditional instrument, achieve the observation of high precision, the dam body settlement of continuous non-point type and panel deformation, and instrument and equipment can realize updating maintenance, can ensure the long-term observation of distortion.But this cover recording geometry belongs to integrated high-precision optical fiber gyro, observation requires that the closed-loop fiber optic gyroscope instrument cost of employing is very high, and cumulative errors is larger for low dynamic high precision.Patent CN1558182 in addition, draw-gear in CN1558181 is difficult to realize uniform motion, monitoring pipeline is that the steel pipe of high rigidity is connected with corrugated tube, and long 6 meters of steel pipe, corrugated tube is 0.3 meter, only corrugated tube can be out of shape along with the distortion of dam body thereupon, and lengths of steel pipes is difficult to truly reflect dam body practical distortion; Also Shortcomings in instrument miniaturization in addition, the volume of fibre optic gyroscope monitoring device is 0.8 meter × 0.25 meter × 0.25 meter (long × wide × high), makes monitoring internal diameter of the pipeline must the scope of 0.3 meter ~ 0.5 meter, the security presence hidden danger of dam structure.Therefore dam body internal observation instrument must advance on the road of miniaturization, high precision and easy care.
Summary of the invention
Technical matters to be solved by this invention is to provide in a kind of dam sees magnetic inertial navigation monitoring system, existing fibre optic gyroscope cumulative errors can be overcome high, drift error is difficult to the defect compensated, reduce the complexity of software, be particularly useful for the interior sight formula monitoring of various types of super-high rockfill dam such as core wall rockfill dam, Concrete Face Rockfill Dam engineering, and significantly can reduce engineering cost, raising monitoring accuracy.
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: see magnetic inertial navigation monitoring system in a kind of dam, flexible detector tube is embedded with in dam body, the monitoring device of walking along flexible detector tube is provided with in flexible detector tube, in monitoring device, be provided with three axis fluxgate sensor and accelerometers, be also provided with in monitoring device and resolve chip.
In preferred scheme, described accelerometer is three axis accelerometer, is also provided with three axle gyroscopes in monitoring device.
In preferred scheme, the described data resolved chip and obtain for calculating three axis fluxgate sensors in real time, and using the static measurement values of three axis accelerometer as velocity correction reference value, using the angular rate measurement value of three axle gyroscopes as angular speed calibration reference value.
In preferred scheme, described flexible detector tube is multiple superhigh molecular weight polyethylene pipe joints be connected to each other, the termination of superhigh molecular weight polyethylene pipe joint is provided with the flange dug, two flange circles are pressed on the flange of two superhigh molecular weight polyethylene pipe joints, are bolted between two flange circles;
Being provided with the flange stage for holding flange in the inner side of flange circle, outside the inner ring of flange circle, being provided with outer nock.
In preferred scheme, be provided with O-ring seal between the termination of superhigh molecular weight polyethylene pipe joint, the inner ring edge of O-ring seal is provided with traction rope pipe suppending hole;
Traction rope pipe is through traction rope pipe suppending hole.
In preferred scheme, described monitoring device is connected with draw-gear, and be provided with in draw-gear and drive by drive unit the winding plant rotated, winding plant walked around by traction rope, and traction rope is connected with the monitoring device of walking along flexible detector tube;
Also comprise rotatable first guide wheel, the first guide wheel walked around by traction rope, is provided with cornerite guide wheel at the forward and backward of the first guide wheel, to increase the cornerite of traction rope on the first guide wheel, is provided with absolute value optoelectronic encoding device at the first guide wheel or winding plant.
In optional scheme, described winding plant is drive by drive unit the reel rotated, winding plant is two groups, the traction rope of one group of winding plant is connected with the afterbody of monitoring device, is connected after guide wheel at the bottom of the pipe be positioned at bottom flexible detector tube walked around by another traction rope organizing winding plant with the head of monitoring device.
Further in preferred scheme, in described traction rope, be provided with power lead and data line;
Described data line is connected with the wireless data transmission device along with spool turns;
Described power lead is connected with input power by rotatable power transmitting device.
In another optional scheme, described winding plant is drive by drive unit the driving wheel rotated, driving wheel walked around by traction rope, one end of traction rope is connected with the afterbody of monitoring device, is connected after the other end of traction rope walks around guide wheel at the bottom of the pipe be positioned at bottom flexible detector tube with the head of monitoring device;
Described first guide wheel activity is installed, and can move along the direction intersected with traction rope, and be provided with connecting link with on the axle of the first guide wheel, connecting link passes fixed support successively and is connected with nut with after spring.
In preferred scheme, be also provided with electronic tag at the outer wall of flexible detector tube or inwall interval fixed range, monitoring device is provided with near-field communication reader.
Magnetic inertial navigation monitoring system is seen in a kind of dam provided by the invention, by adopting the combination of flexible detector tube and the monitoring device with three axis fluxgate sensors and accelerometer, monitoring accuracy can be improved, overcome existing fibre optic gyroscope cumulative errors large, drift error is difficult to the problem compensated, fibre optic gyroscope is due to the impact of drift error, in shorter distance, fibre optic gyroscope can obtain the higher angular speed of precision, but along with the prolongation of distance, the add up error of angular speed makes integral result and actual result differ greatly, therefore need to adopt complicated revision program to coordinate other measurement mechanism to revise.And have employed three axis fluxgate sensor measurement deflection values in the present invention, be using almost changeless magnetic induction line as measuring basis.On a less localized ground, ground magnetic induction line can think straight line parallel to the ground, and see the OX axle in Figure 17, its magnetic induction component in surface level is also constant, namely, on this region, geomagnetism horizontal component is the constant vector in a size direction.Each measurement is all that therefore cumulative errors is less with ground magnetic induction line for the current corner of reference measurement equipment and the angle of ground magnetic induction line.Along with the measuring accuracy of three axis fluxgate sensors improves further, the data precision that whole monitoring device obtains can also be improved further.Monitoring device drives walking by the bidirection traction device automatically controlled, and is provided with the absolute value optoelectronic encoding device of Position monitoring devices position, conveniently can obtains the Static output value of accelerometer at draw-gear.
The superhigh molecular weight polyethylene pipe of the band flange adopted in the present invention saves the structure of splicing mutually in the mode of flange, can be out of shape along with the change of rock panel deflection, the inner sedimentation of dam body and horizontal shift with higher precision thereupon, and be convenient to realize sealing, the inner wall smooth of flexible tube coupling, skin-friction force is little, corrosion-resistant, be convenient to the monitoring device of walking along flexible monitoring pipe and obtain precise information about the change of rock panel deflection, the inner sedimentation of dam body and horizontal shift.The present invention can reach 1 millimeter for the precision of flexible detector tube deflection deformation.
The electronic tag arranged and near-field communication reader, electronic tag self not charged, the wireless signal sent by near-field communication reader is activated and sends one section of ID code, thus accurately can obtain the position of monitoring device in flexible detector tube, whether produces error to verify draw-gear.In preferred scheme, by the power lead that arranges in traction rope and data line, can realize the real-time Transmission of power supply and data, power lead and data line adopt wireless and wired transmission mode respectively, make the real-time Transmission of power supply and data more reliable.The present invention significantly can reduce engineering cost at least 50%.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is one-piece construction schematic diagram of the present invention.
Fig. 2 is the monitoring system schematic diagram along the flexible detector tube of dam body panel arrangement in the present invention.
Fig. 3 is the monitoring system schematic diagram of horizontally disposed flexible detector tube in dam body in the present invention.
Fig. 4 is the schematic diagram of the another kind of scheme of monitoring system of horizontally disposed flexible detector tube in dam body in the present invention.
Fig. 5 is the close-up schematic view of relaying suspender on flexible detector tube in the present invention.
Fig. 6 is the cross sectional representation of relaying suspender on flexible detector tube in the present invention.
Fig. 7 is the cross sectional representation of O-ring seal in the present invention.
Fig. 8 is the cross sectional representation of monitoring device in the present invention.
Fig. 9 is the cross sectional representation of the another kind of scheme of flexible detector tube in the present invention.
Figure 10 is the cross sectional representation of traction rope in the present invention.
Figure 11 is structural representation when traction rope is connected with access power supply in the present invention.
Figure 12 is cross sectional representation when traction rope is connected with access power supply in the present invention.
Figure 13 is the structural representation of the first guide wheel in the present invention.
Figure 14 is the schematic flow sheet that in the present invention, strapdown resolves.
Figure 15 is the dam sag curve that system of the present invention records.
Figure 16 is the dam sag curve that system of the prior art records.
Figure 17 is measuring principle figure of the present invention.
In figure: driving wheel 1, flexible detector tube 2, superhigh molecular weight polyethylene pipe joint 21, flange 22, O-ring seal 23, flange circle 24, flange stage 25, outer nock 26, traction rope pipe suppending hole 27, relaying suspender 28, cover 281, trapezoidal portion 282, relaying suppending hole 283, traction rope pipe 29, traction rope 3, power lead 31, data line 32, monitoring device 4, collection plate 401, three axle gyroscopes 402, three axis accelerometer 403, three axis fluxgate sensors 404, datalogger 405, power supply 406, camera 407, data and charging inlet 408, snubber assembly 409, traction hook 410, switch 411, pilot lamp 412, universal rolling wheel 413, teflon leg 414, resolve chip 415, near-field communication reader 416, weight 5, draw-gear 6, reel 61, wireless data transmission device 611, transfer panel 612, fixing transmission of electricity cylinder 613, transmission of electricity groove 614, transmission of electricity slide block 615, guide wheel 62 at the bottom of pipe, servomotor 63, damper 64, speed reduction unit 65, first guide wheel 7, cornerite guide wheel 71, connecting link 72, spring 73, nut 74, fixed support 75, pinch roller 76, absolute value optoelectronic encoding device 8, dam body 9, observation room 10.
Embodiment
Magnetic inertial navigation monitoring system is seen in a kind of dam, flexible detector tube 2 is embedded with in dam body 9, the monitoring device 4 of walking along flexible detector tube 2 is provided with in flexible detector tube 2, in monitoring device 4, be provided with three axis fluxgate sensor 404 and accelerometers, three axis fluxgate sensors 402 are connected with collection plate 401 with accelerometer.Collection plate 401 is connected with datalogger 405.
Adopt three axis fluxgate sensor 402 data measureds in device of the present invention, coordinate the data of accelerometer 403 to draw the sag curve of flexible detector tube 2, shown in Figure 15.Compared with the sag curve recorded with employing prior art as shown in Figure 16, adopt device of the present invention to record sag curve and obviously can reflect more variations in detail.
The parameter of three axis fluxgate sensors 402 is:
Supply voltage direct current 10V ~ 24V;
Current sinking 45mA;
Magnetic toolface angle measuring accuracy ± 1.0 °;
Magnetic toolface angle measurement range 0 ° ~ 360 °.
The parameter of accelerometer is:
Sensitivity 2V/g, zero point 0V.
Monitoring device 4 is also provided with power supply 406, switch 411 and pilot lamp 412.Camera 407 is provided with, to observe the state in flexible detector tube 2 at the head of monitoring device 4.Also be provided with snubber assembly 409 at the head of monitoring device 4, snubber assembly 409 preferably adopts block rubber.。With collision free damage equipment.Traction hook 410 is provided with, to be connected with draw-gear at the head of monitoring device 4 and afterbody.Monitoring device 4 is also provided with data and charging inlet 408, for transmitting data and charging.
The part do not described before this example and afterwards, and Chinese patent literature application number: the record in 200410012677.3 is identical, repeats no more herein.
The flexible detector tube 2 adopted in this example is better with the compatibility of dam, can reflect the distortion of dam more accurately.Preferably, flexible detector tube 2 adopts superhigh molecular weight polyethylene material.The i.e. unbranched linear polyethylene of molecular weight more than 1,500,000.The diameter of flexible detector tube 2 is 200 ~ 299mm.Less diameter is conducive to the distortion better reflecting dam.
At monitoring device, 4, be inside also provided with and resolve chip, 415, in this example, resolve chip, 415, be arranged on collection plate, 401, on.
Described accelerometer is three axis accelerometer, 403, and monitoring device, 4, be inside also provided with three axle gyroscopes, 402.
Described resolves chip, 415, for calculating three axis fluxgate sensors in real time, 404, the data obtained, Computing Principle see Figure of description 17, and using the static measurement values of three axis accelerometer 403 as velocity correction reference value, using the angular rate measurement value of three axle gyroscopes 402 as angular speed calibration reference value.Method thus, make use of three axis accelerometer 403 and three axle gyroscopes 402, the advantage that precision is high in short-term, also overcomes three axle gyroscopes, 402, the problem that cumulative errors is large.
Preferred scheme is as in Fig. 2 ~ 7, described flexible detector tube 2 is multiple superhigh molecular weight polyethylene pipe joints 21 be connected to each other, the termination of superhigh molecular weight polyethylene pipe joint 21 is provided with the flange 22 dug, two flange circles 24 are pressed on the flange 22 of two superhigh molecular weight polyethylene pipe joints 21, are bolted between two flange circles 24;
Being provided with the flange stage 25 for holding flange 22 in the inner side of flange circle 24, outside the inner ring of flange circle 24, being provided with outer nock 26.Structure thus, when two superhigh molecular weight polyethylene pipe joints 21 be connected to each other are at the position distortions connected, flange circle 24 can not produce distortion interferes.Thus improve the deformation accuracy of flexible detector tube 2.Be connected to each other reliably between each superhigh molecular weight polyethylene pipe joint 21.Connected mode of the prior art is first socketed between each tube coupling, and then the connected mode of welding, this mode can form thickening structure at link position, thickening part is not easy to be out of shape along with the distortion of dam body thereupon, and can faulting of slab ends be formed in the position connected, make being affected with dynamic deformation of link position, the servo-actuated deformation accuracy of corresponding whole flexible detector tube 2 is affected.And the servo-actuated deformation effect of connected mode to flexible detector tube 2 as shown in Fig. 2 ~ 4 is less, thus improve measuring accuracy.
In preferred scheme, the diameter of flexible detector tube 2 is 200 ~ 299mm.Less diameter better can reflect the change of rock panel deflection, the inner sedimentation of dam body and horizontal shift, thus improves the precision of monitoring.
Superhigh molecular weight polyethylene material, the i.e. unbranched linear polyethylene of molecular weight more than 1,500,000.This material have corrosion-resistant, have that certain flexibility is beneficial to dynamic deformation, finished surface is smooth, skin-friction force is little, and be easy to the advantage of processing.
Preferred scheme, as Fig. 2 ~ 4, in 7 ~ 8, is provided with O-ring seal 23, structure thus between the termination of superhigh molecular weight polyethylene pipe joint 21, makes whole flexible detector tube 2 keep sealing, be convenient to through under water.The inner ring edge of O-ring seal 23 is provided with traction rope pipe suppending hole 27;
Traction rope pipe 29 is through traction rope pipe suppending hole 27.Structure thus, for the scheme of the monitoring device 4 two ends traction in such as Fig. 3, can be used in fixed tractive pipe 29, avoids the sagging operation having influence on monitoring device 4 of traction rope 3.
Preferred scheme is as in Fig. 4 ~ 6, and be also provided with the relaying suspender 28 through superhigh molecular weight polyethylene pipe joint 21, relaying suspender 28 is provided with relaying suppending hole 283.Usually reach 6 meters because single superhigh molecular weight polyethylene pipe saves 21 length, the traction rope pipe 29 easily sagging operation having influence on monitoring device 4 of carrying traction rope, the relaying suspender 28 of setting can be formed traction rope pipe 29 and support.Relaying suspender 28 also can adopt superhigh molecular weight polyethylene material, or other corrosion-resistant materials are made.
The top of relaying suspender 28 is provided with and covers 281, covering 281 is the widest position of whole relaying suspender 28, for sealing the perforate on flexible tube coupling 21, the middle part of relaying suspender 28 is provided with trapezoidal portion 282, for the position of fixed relay suspender 28, and there is the effect of drawing tighter and tighter, be provided with relaying suppending hole 283 in the bottom of relaying suspender 28, for passing for traction rope pipe 29.
Another preferred scheme is as in Fig. 9, and the inwall of described superhigh molecular weight polyethylene pipe joint 21 is provided with thickened section, is provided with traction cord hole in thickened section.Structure thus, is convenient to the installation of traction rope.Only slightly increase the difficulty of processing.
Preferred scheme is as in Fig. 2 ~ 4, described monitoring device 4 is connected with draw-gear 6, be provided with in draw-gear 6 and drive by drive unit the winding plant rotated, winding plant walked around by traction rope 3, and traction rope 3 is connected with the monitoring device 4 of walking along flexible detector tube 2;
Also comprise rotatable first guide wheel 7, the first guide wheel 7 walked around by traction rope 3, before the first guide wheel 7, after be provided with cornerite guide wheel 71, to increase the cornerite of traction rope 3 on the first guide wheel 7, in this example, the cornerite of traction rope 3 on the first guide wheel 7 is greater than 180 °, structure thus, avoid traction rope 3 to skid on the first guide wheel 7, guarantee to keep synchronous between the movement of traction rope 3 and the rotation of the first guide wheel 7, preferred further, the race xsect of the first guide wheel 7 adopts " V " font, after traction rope 3 is under pressure, press tighter and tighter between meeting and the race of " V " font.Further in preferred scheme, above the first guide wheel 7, be also provided with pinch roller 76, as shown in Figure 13.
Absolute value optoelectronic encoding device 8 is provided with at the first guide wheel 7 or winding plant.Absolute value optoelectronic encoding device 8 is connected with PLC or single-chip microcomputer, to obtain the data of the rotation number of turns of the first guide wheel 7 and to draw the travel distance of monitoring device 4, thus draw the position of monitoring device 4, coordinate the time parameter obtained from the crystal oscillator of monitoring device 4, thus draw the speed of travel of monitoring device 4.Further the single shaft closed-loop fiber optic gyroscope instrument 402 built-in with monitoring device 4 or twin-axis accelerometer 403 coordinate, and can measure and obtain being embedded in dam or the deflection value of the flexible detector tube 2 of dam face slab.By the precise information that absolute value optoelectronic encoding device 8 feeds back, draw-gear 6 can realize automatic control, especially automatically can control monitoring device 4 often to walk after a segment distance and automatically stop, so that the three axis accelerometer 403 in monitoring device 4 obtains accurate Static output value.
Optional scheme is as in Fig. 2, and described flexible detector tube 2 is in tilted layout, and described winding plant is drive by drive unit the reel 61 rotated, and traction rope 3 is connected with the afterbody of monitoring device 4, is connected with weight 5 at the head of monitoring device 4.Winding plant concrete structure is: servomotor 63 is connected with reel 61 by speed reduction unit 65, and speed reduction unit comprises worm reducer, gear reducer and belt reducer, can select one or more combination wherein.Preferably on the axle of reel 61 or speed reduction unit, be also provided with damper 64, in this example, select magnetic-powder-type damper.During use, by the weight 5 of about 5kg and the weight of monitoring device 4 self, make monitoring device 4 along flexible detector tube 2 slide downward, traction rope 3 drives the first guide wheel 7 to rotate, and absolute value optoelectronic encoding device 8 obtains the data of rotating.Travelling speed is fed back to PLC or single-chip microcomputer by absolute value optoelectronic encoding device 8, suitable damping is provided by PLC or Single-chip Controlling damper 64, thus make monitoring device 4 along flexible detector tube 2 uniform descent, the radius of the angle of rotation recorded according to absolute value optoelectronic encoding device 8 and the first guide wheel 7, records stroke and the speed of monitoring device 4.After arriving the bottom of flexible detector tube 2, servomotor 63 starts, traction rope 3 reclaims by reel 61, the data that the travelling speed of servomotor 63 is fed back by absolute value optoelectronic encoding device 8 control, monitoring device 4 is at the uniform velocity promoted, by with upper type, monitoring device 4 obtains flexible detector tube 2 amount of deflection by the single shaft closed-loop fiber optic gyroscope instrument 402 in it with the conjunction measuring of twin-axis accelerometer 403 to be changed.
Another optional scheme is as in Fig. 3, described winding plant is drive by drive unit the reel 61 rotated, winding plant concrete structure is: servomotor 63 is connected with reel 61 by speed reduction unit 65, speed reduction unit comprises worm reducer, gear reducer and belt reducer, can select one or more combination wherein.Preferably on the axle of reel 61 or speed reduction unit, be also provided with damper 64, in this example, select magnetic-powder-type damper.
Winding plant is two groups, and the traction rope 3 of one group of winding plant is connected with the afterbody of monitoring device 4, is connected after guide wheel 62 at the bottom of the pipe be positioned at bottom flexible detector tube 2 walked around by another traction rope 3 organizing winding plant with the head of monitoring device 4.
Preferred scheme is as in Fig. 2, and the first described guide wheel 7 should be two groups mutually, to obtain more accurate run-length data.The traction rope walking around guide wheel 62 at the bottom of pipe needs to pass in traction rope pipe 29, in order to avoid sagging traction rope 3 affects the walking of monitoring device 4.During one group of winding plant traction, by absolute value optoelectronic encoding device 8 monitor speed on corresponding first guide wheel 7, the winding plant of another group is then by there being damper 64 to provide suitable damping.During use, first drawn by the winding plant being arranged in Fig. 3 top, monitoring device 4 moves to the left end in Fig. 3, by the FEEDBACK CONTROL speed of travel of the winding plant of top according to absolute value optoelectronic encoding device 8 in moving process.When arriving the left end end of flexible detector tube 2, stop a period of time, then draw by the winding plant of below, the winding plant of top then by there being damper 64 to provide suitable damping, thus realizes the deflection metrology for flexible detector tube 2.
For the transmission of measurement data, there is various ways: 1, be save the data in datalogger 405, after monitoring device 4 is drawn in flexible detector tube 2, copy the data of measurement to from data and charging inlet 408.
2, wirelessly data are sent in real time the computer in observation room 3.
First kind of way can not real-time processing data, and efficiency is lower.The second way is subject to the restriction of prior art, the distance limit that such as wireless signal sends, the restriction of the power supply capacity that monitoring device 4 carries.
Preferred scheme is as in Figure 10 ~ 12 further, is provided with power lead 31 and data line 32 in described traction rope 3;
Described data line 32 is connected with the wireless data transmission device 611 rotated along with reel 61;
Described power lead 31 is connected with input power by rotatable power transmitting device.
As Figure 12, in described rotatable power transmitting device, at least two transmission of electricity grooves 614 are provided with in fixing transmission of electricity cylinder 613, mutual insulating between transmission of electricity groove 614, be movably installed with transmission of electricity slide block 615 in transmission of electricity groove 614 and formed be electrically connected with between transmission of electricity slide block 615, transmission of electricity slide block 615 is fixedly connected with the transfer panel 612 rotated along with reel 61, and power lead 31 is connected with transmission of electricity slide block 615 respectively by transfer panel 612.Structure thus, realizes the real-time Transmission of measurement data, and hardly by the impact of flexible detector tube 2 length, and be convenient to arrange and data transmission precision high.The power supply supply of monitoring device 4 is also comparatively sufficient, there will not be the situation of accumulator power-off.
Adopt the mode being carried out with annular groove of rotatably transmitting electricity by power lead connecting, power supply is delivered to monitoring device 4 through traction rope.And for data line, because data-signal conveying requires higher, therefore adopt the mode be connected with the wireless signal transmitting device along with spool turns by data line, ensure that the intensity that wireless signal is carried, the reel also overcoming rotation and fixing data sink carry out the problem be connected.The power supply of wireless signal transmitting device is also provided by annular groove of rotatably transmitting electricity.
Another optional scheme is as in Fig. 4, described winding plant is drive by drive unit the driving wheel 1 rotated, driving wheel 1 walked around by traction rope 3, one end of traction rope 3 is connected with the afterbody of monitoring device 4, and the other end of traction rope 3 is connected with the head of monitoring device 4 after walking around guide wheel 62 at the bottom of the pipe be positioned at bottom flexible detector tube 2;
Described first guide wheel 7 activity is installed, and can move along the direction intersected with traction rope 3, and be provided with connecting link 72 with on the axle of the first guide wheel 7, connecting link 72 is connected with nut 74 afterwards through fixed support 75 and spring 73 successively.
Structure thus, is beneficial to traction rope 3 tensioning.Thus to guarantee between traction rope and driving wheel 1 not relative sliding.Preferably absolute value optoelectronic encoding device 8 is arranged on driving wheel 1 in this example.
Be provided with spherical universal roller 413 in the bottom of monitoring device 4, thus structure, be beneficial to the walking of monitoring device 4.
Or as in Fig. 8,9, be provided with fixing teflon leg 414 in the bottom of monitoring device 4.Because the inwall friction force of flexible tube coupling 21 is less, therefore adopt fixing leg to be conducive to reducing the impact of rotation for high-precision fibre optic gyroscope 402 of roller, thus improve monitoring accuracy further.
Preferred scheme, as in Figure 15, is also provided with electronic tag at the outer wall of flexible detector tube 2 or inwall interval fixed range, monitoring device 4 is provided with near-field communication reader 416.
In this example, in the position of flange 22 of superhigh molecular weight polyethylene pipe joint 21, the outer wall of flexible detector tube 2 or inwall or flange circle 24, electronic tag is set, electronic tag is not shown in the drawings, because electronic tag self is without the need to power supply, the power supply that the signal sent by near-field communication reader produces generates data, therefore, it is possible to guarantee for a long time effectively, to use reliable.The ID code data simultaneously stored in electronic tag, makes monitoring device 4 obtain to be positioned at more accurately the data of the position of flexible detector tube 2.
The above embodiments are only the preferred technical solution of the present invention, and should not be considered as restriction of the present invention, and the embodiment in the application and the feature in embodiment, can combination in any mutually when not conflicting.The technical scheme that protection scope of the present invention should be recorded with claim, the equivalents comprising technical characteristic in the technical scheme of claim record is protection domain.Namely the equivalent replacement within the scope of this improves, also within protection scope of the present invention.

Claims (10)

1. see magnetic inertial navigation monitoring system in a dam, it is characterized in that: in dam body (9), be embedded with flexible detector tube (2), the monitoring device (4) of walking along flexible detector tube (2) is provided with in flexible detector tube (2), in monitoring device (4), be provided with three axis fluxgate sensor (404) and accelerometers, be also provided with in monitoring device (4) and resolve chip (415).
2. see magnetic inertial navigation monitoring system in dam according to claim 1, it is characterized in that: described accelerometer is three axis accelerometer (403), in monitoring device (4), be also provided with three axle gyroscopes (402).
3. see magnetic inertial navigation monitoring system in dam according to claim 2, it is characterized in that: the described data resolved chip (415) and obtain for calculating three axis fluxgate sensors (404) in real time, and using the static measurement values of three axis accelerometer (403) as velocity correction reference value, using the angular rate measurement value of three axle gyroscopes (402) as angular speed calibration reference value.
4. see magnetic inertial navigation monitoring system in dam according to claim 1, it is characterized in that: described flexible detector tube (2) is multiple superhigh molecular weight polyethylene pipes joint (21) be connected to each other, the termination of superhigh molecular weight polyethylene pipe joint (21) is provided with the flange (22) dug, two flange circles (24) are pressed on the flange (22) of two superhigh molecular weight polyethylene pipes joint (21), are bolted between two flange circles (24);
Being provided with the flange stage (25) for holding flange (22) in the inner side of flange circle (24), outside the inner ring of flange circle (24), being provided with outer nock (26).
5. see magnetic inertial navigation monitoring system in dam according to claim 4, it is characterized in that: be provided with O-ring seal (23) between the termination of superhigh molecular weight polyethylene pipe joint (21), the inner ring edge of O-ring seal (23) is provided with traction rope pipe suppending hole (27);
Traction rope pipe (29) is through traction rope pipe suppending hole (27).
6. see magnetic inertial navigation monitoring system in dam according to claim 1, it is characterized in that: described monitoring device (4) is connected with draw-gear (6), be provided with in draw-gear (6) and drive by drive unit the winding plant rotated, winding plant walked around by traction rope (3), and traction rope (3) is connected with the monitoring device (4) of walking along flexible detector tube (2);
Also comprise rotatable first guide wheel (7), the first guide wheel (7) walked around by traction rope (3), cornerite guide wheel (71) is provided with at the forward and backward of the first guide wheel (7), to increase the cornerite of traction rope (3) on the first guide wheel (7), be provided with absolute value optoelectronic encoding device (8) at the first guide wheel (7) or winding plant.
7. see magnetic inertial navigation monitoring system in dam according to claim 6, it is characterized in that: described winding plant is drive by drive unit the reel (61) rotated, winding plant is two groups, the traction rope (3) of one group of winding plant is connected with the afterbody of monitoring device (4), and the traction rope (3) of another group winding plant is walked around guide wheel (62) at the bottom of the pipe being positioned at flexible detector tube (2) bottom and is connected with the head of monitoring device (4) afterwards.
8. see magnetic inertial navigation monitoring system in dam according to claim 7, it is characterized in that: in described traction rope (3), be provided with power lead (31) and data line (32);
Described data line (32) is connected with the wireless data transmission device (611) rotated along with reel (61);
Described power lead (31) is connected with input power by rotatable power transmitting device.
9. see magnetic inertial navigation monitoring system in dam according to claim 6, it is characterized in that: described winding plant is drive by drive unit the driving wheel (1) rotated, driving wheel (1) walked around by traction rope (3), one end of traction rope (3) is connected with the afterbody of monitoring device (4), and the other end of traction rope (3) is walked around guide wheel (62) at the bottom of the pipe being positioned at flexible detector tube (2) bottom and is connected with the head of monitoring device (4) afterwards;
Described the first guide wheel (7) activity is installed, and can move along the direction intersected with traction rope (3), with connecting link (72) is installed on the axle of the first guide wheel (7), connecting link (72) is connected with nut (74) with spring (73) afterwards through fixed support (75) successively.
10. see magnetic inertial navigation monitoring system in dam according to claim 1, it is characterized in that: be also provided with electronic tag at the outer wall of flexible detector tube (2) or inwall interval fixed range, monitoring device (4) is provided with near-field communication reader (416).
CN201510747633.3A 2015-11-06 2015-11-06 Magnetic inertial navigation monitoring system is seen in dam Active CN105258885B (en)

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WO1990010193A1 (en) * 1989-03-01 1990-09-07 Steirische Wasserkraft- U. Elektrizitäts-Aktiengesellschaft Arrangement and process for determining movements in structures
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CN110702344B (en) * 2019-09-27 2020-05-12 济南城建集团有限公司 Closed-loop bridge structure damage diagnosis method based on distributed strain measurement technology

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