CN106958460A - A kind of wisdom sensory perceptual system and method suitable for tunneling and underground engineering monitoring measurement information - Google Patents
A kind of wisdom sensory perceptual system and method suitable for tunneling and underground engineering monitoring measurement information Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及一种适用于隧道与地下工程监控量测信息的智慧感知系统及方法。The invention relates to an intelligent perception system and method suitable for monitoring and measuring information of tunnels and underground engineering.
背景技术Background technique
随着中国西部大开发战略与“一带一路”发展战略的推进，中国西部地区将建设大量的深埋特长隧道。大量隧道与地下工程的修建，使得新奥法施工在我国隧道与地下工程建设中得到了很大的应用和推广。因此，在隧道与地下工程施工中需要使用各种类型的仪表和工具，对围岩和支护、衬砌的力学行为以及它们之间的力学关系进行量测和观察，并对其稳定性进行评价。With the advancement of China's western development strategy and the "Belt and Road" development strategy, a large number of deep-buried and super-long tunnels will be built in western China. The construction of a large number of tunnels and underground projects has made the new Austrian method of construction widely used and promoted in the construction of tunnels and underground projects in our country. Therefore, in the construction of tunnels and underground engineering, it is necessary to use various types of instruments and tools to measure and observe the mechanical behavior of surrounding rock, support and lining, as well as the mechanical relationship between them, and evaluate their stability. .
施工现场监控量测是新奥法施工的一项重要内容，它既是优化结构、降低材料消耗的重要手段，又是施工安全的保证措施，同时也是实现隧道与地下工程信息化施工不可缺少的环节。现代隧道与地下工程工程的规划、设计和施工等技术都充分体现了高度应用信息技术的特色。为了保证隧道与地下工程的安全施工，在隧道与地下工程修建过程中必须广泛采用现场监控量测反馈工程控制各个阶段的信息化施工技术，然后通过反馈来控制和调整开挖或支护衬砌速率以及支护的强度，并对支护参数进行有效的优化，实现隧道与地下工程的安全优质施工。Construction site monitoring and measurement is an important part of the new Austrian method construction. It is not only an important means to optimize the structure and reduce material consumption, but also a guarantee measure for construction safety. It is also an indispensable link to realize the information construction of tunnels and underground engineering . The planning, design and construction of modern tunnels and underground engineering fully reflect the characteristics of highly applied information technology. In order to ensure the safe construction of tunnels and underground works, in the construction process of tunnels and underground works, it is necessary to widely adopt the information construction technology of on-site monitoring, measurement and feedback engineering control at each stage, and then control and adjust the rate of excavation or support lining through feedback And the strength of the support, and effectively optimize the support parameters to achieve safe and high-quality construction of tunnels and underground projects.
传统隧道与地下工程监控量测项目采用钢挂尺、收敛计、水准仪和全站仪等进行数据采集，根据量测数据确认围岩的稳定性，判断支护效果，指导施工工序。传统方法存在一些共同的弊端，即受隧道与地下工程施工影响较大，测量精度不高，很容易造成施工阻碍，还无法实现全自动实时快速监测，而且对做完二衬的变形情况无法监测，对塌方的预测还远远不够，同时由于数据存储、传输、分析、处理等工作量很大，时效性较差，灾害风险评估预警不系统，不利于指导施工。如何在隧道与地下工程内实现全自动实时高精度监测，是目前亟待解决的一个技术难题。Traditional tunnel and underground engineering monitoring and measurement projects use steel hanging rulers, convergence gauges, levels, and total stations for data collection. According to the measurement data, the stability of the surrounding rock is confirmed, the support effect is judged, and the construction process is guided. The traditional method has some common disadvantages, that is, it is greatly affected by the construction of tunnels and underground works, the measurement accuracy is not high, it is easy to cause construction obstacles, and it is impossible to realize automatic real-time rapid monitoring, and it is impossible to monitor the deformation of the second lining , the prediction of landslides is far from enough. At the same time, due to the heavy workload of data storage, transmission, analysis, and processing, the timeliness is poor, and the disaster risk assessment and early warning is not systematic, which is not conducive to guiding construction. How to realize automatic real-time high-precision monitoring in tunnels and underground engineering is a technical problem that needs to be solved urgently.
发明内容Contents of the invention
本发明为了解决上述问题，提出了一种适用于隧道与地下工程监控量测信息的智慧感知系统及方法，本发明能够实现隧道与地下工程内的全自动实时高精度监测,解决了隧道与地下工程监控量测人工测量时效性差，安全评价系统不规范的困难。In order to solve the above problems, the present invention proposes an intelligent sensing system and method suitable for monitoring and measuring information of tunnels and underground engineering. The present invention can realize fully automatic real-time and high-precision monitoring in tunnels and underground The timeliness of engineering monitoring and measurement is poor, and the safety evaluation system is not standardized.
为了实现上述目的，本发明采用如下技术方案：In order to achieve the above object, the present invention adopts the following technical solutions:
一种适用于隧道与地下工程监控量测信息的智慧感知系统，包括数据采集单元、数据传输单元、数据分析单元和预警单元，其中：An intelligent perception system suitable for monitoring and measuring information of tunnels and underground engineering, including a data acquisition unit, a data transmission unit, a data analysis unit and an early warning unit, wherein:
所述数据采集单元被配置为采集隧道与地下工程拱顶处垂直方向的围岩变形情况，以及围岩的图像信息，并上传至数据传输单元；The data collection unit is configured to collect the deformation of the surrounding rock in the vertical direction between the tunnel and the vault of the underground project, as well as the image information of the surrounding rock, and upload them to the data transmission unit;
所述数据传输单元被配置为接收采集信息，将采集信息进行通过无线传输技术传输至数据分析单元；The data transmission unit is configured to receive the collected information, and transmit the collected information to the data analysis unit through wireless transmission technology;
所述数据分析单元被配置为将测得的数据转化，形成时态曲线和空间效应曲线图，并结合曲线图进行回归分析，得到支护结构受力和围岩变形随开挖面推进和时间变化的情况，对变形趋势进行初步预测；The data analysis unit is configured to convert the measured data to form temporal curves and spatial effect curves, and perform regression analysis in combination with the curves to obtain the force of the support structure and the deformation of the surrounding rock with the progress of the excavation face and time. Changes, preliminary prediction of deformation trends;
所述预警单元被配置为接收预测结果，根据预测结果设置预警等级，进行预警。The early warning unit is configured to receive a prediction result, set an early warning level according to the prediction result, and perform early warning.
进一步的，所述数据采集单元，包括预制监测套管、爬壁机器人和校准模块，所述预制监测套管与工程围岩紧密锚固，监测隧道与地下工程开挖过程中围岩的变形情况，所述爬壁机器人在工程围岩上自由移动，采集围岩各个位置的图像；所述校准模块埋设在二次衬砌拱腰处，获得围岩稳定时的基准数据。Further, the data acquisition unit includes a prefabricated monitoring casing, a wall-climbing robot and a calibration module, and the prefabricated monitoring casing is tightly anchored to the surrounding rock of the project to monitor the deformation of the surrounding rock during the excavation of the tunnel and underground engineering, The wall-climbing robot moves freely on the surrounding rock of the project, and collects images of various positions of the surrounding rock; the calibration module is buried at the waist of the secondary lining to obtain benchmark data when the surrounding rock is stable.
进一步的，所述预制监测套管，为一圆柱套管，内部设置有位移传感器和定位芯片，分别将围岩位移转换成电信号和确定套管所在位置，以得到围岩变形情况和围岩位移变化情况。Further, the prefabricated monitoring casing is a cylindrical casing with a displacement sensor and a positioning chip inside, which respectively convert the displacement of the surrounding rock into an electrical signal and determine the location of the casing to obtain the deformation of the surrounding rock and the location of the casing. Changes in displacement.
进一步的，所述预制监测套管作为收敛监测点时倾斜一定角度埋入隧道与地下工程开挖边墙内，便于监测隧道与地下工程开挖过程中围岩的变形情况。Further, when the prefabricated monitoring casing is used as a convergence monitoring point, it is buried at a certain angle at an inclination in the excavation side walls of tunnels and underground works, which is convenient for monitoring the deformation of surrounding rock during the excavation of tunnels and underground works.
优选的，所述倾斜角度为20-40度。Preferably, the inclination angle is 20-40 degrees.
进一步的，所述预制监测套管作为拱顶监测点时垂直埋入隧道与地下工程拱顶处，以监测隧道与地下工程拱顶处垂直方向的围岩变形情况。Further, when the prefabricated monitoring casing is used as a vault monitoring point, it is vertically buried in the tunnel and the vault of the underground project, so as to monitor the deformation of the surrounding rock in the vertical direction between the tunnel and the vault of the underground project.
进一步的，围岩上设置有钻孔，所述预制监测套管通过锚固在钻孔内与围岩紧密接触。Further, a borehole is provided on the surrounding rock, and the prefabricated monitoring casing is in close contact with the surrounding rock through anchoring in the borehole.
进一步的，所述爬壁机器人包括机器人本体和设置于机器人本体上的图像采集模块、芯片感应器和远程控制模块，所述芯片感应器与预制监测套管的位移传感器和定位芯片通信，接收其采集的信息，所述远程控制模块远程控制定位芯片的开关，同时接收控制指令，控制机器人本体进行运动。Further, the wall-climbing robot includes a robot body and an image acquisition module, a chip sensor and a remote control module arranged on the robot body, and the chip sensor communicates with the displacement sensor and the positioning chip of the prefabricated monitoring casing, and receives its Based on the collected information, the remote control module remotely controls the switch of the positioning chip, and at the same time receives control instructions to control the movement of the robot body.
所述校准模块，包括至少两个后视基准点，所述后视基准点埋设在围岩稳定的二次衬砌拱腰处，以进行数据采集之前的定位工作。The calibration module includes at least two backsight reference points, and the backsight reference points are buried at the stable secondary lining arch waist of the surrounding rock for positioning before data collection.
所述后视基准点内置芯片储存后视点坐标信息，并与芯片感应器通信，以获取坐标信息进行定位。The built-in chip of the backsight reference point stores the coordinate information of the backsight point, and communicates with the chip sensor to obtain the coordinate information for positioning.
所述数据分析单元，被配置为具有隧道与地下工程风险评价体系，测得的数据转化为位移值，绘制并查看根据监测数据得到的各种时态曲线、空间效应曲线图，对监测数据的分析，对不同种类的灾害进行预警、预报。The data analysis unit is configured to have a risk assessment system for tunnels and underground projects, the measured data is converted into displacement values, and various temporal curves and spatial effect curves obtained according to the monitoring data are drawn and viewed. Analysis, early warning and forecasting of different types of disasters.
所述隧道与地下工程风险评价体系是将隧道与地下工程监控量测信息的智慧感知系统采集的数据处理后通过非线性方法分析该断面的围岩稳定情况，并结合断面围岩监测获取的位移值以及现场开挖时获取的围岩影像资料综合评判围岩的风险等级，指导现场施工。The tunnel and underground engineering risk assessment system is to analyze the stability of the surrounding rock of the section through the nonlinear method after processing the data collected by the intelligent perception system of the monitoring and measurement information of the tunnel and underground engineering, and combine the displacement obtained by the monitoring of the surrounding rock of the section The risk level of the surrounding rock can be judged comprehensively based on the surrounding rock image data obtained during site excavation, and the site construction can be guided.
基于上述系统的工作方法，具体包括以下步骤：Based on the working method of the above-mentioned system, it specifically includes the following steps:
(1)隧道与地下工程开挖时，在测点埋设位置打孔后将预制监测套管埋入，其中拱顶测点垂直于拱顶，周边收敛点斜一定角度埋入边墙；(1) When excavating tunnels and underground works, bury the prefabricated monitoring casing after drilling holes at the embedding position of the measuring point, wherein the measuring point of the vault is perpendicular to the vault, and the surrounding convergence points are buried in the side wall at an oblique angle;
(2)已知两个基准控制点坐标信息，爬壁机器人移至预制感应套管最佳通信的位置，获取两个基准控制点的坐标信息并通过后方交会的方法进行坐标定向，定向后爬壁机器人感应预制套管内的芯片获取监测点位置信息，得到隧道与地下工程拱顶处垂直方向的围岩变形情况；(2) Knowing the coordinate information of the two reference control points, the wall-climbing robot moves to the best communication position of the prefabricated induction casing, obtains the coordinate information of the two reference control points and performs coordinate orientation through the method of resection, and climbs after orientation. The wall robot senses the chip in the prefabricated casing to obtain the position information of the monitoring point, and obtains the deformation of the surrounding rock in the vertical direction between the tunnel and the vault of the underground project;
(3)将采集的信息进行分析，得到支护结构受力和围岩变形随开挖面推进和时间变化的情况，对变形趋势进行初步预测；(3) Analyze the collected information to obtain the force of the supporting structure and the deformation of the surrounding rock as the excavation face advances and changes with time, and make a preliminary prediction of the deformation trend;
(4)根据预测结果划分预警等级，将相应的预警信息反馈至施工现场，指导施工；(4) According to the prediction results, the early warning level is divided, and the corresponding early warning information is fed back to the construction site to guide the construction;
(5)重复步骤(1)至步骤(4)，监测下一断面。(5) Repeat steps (1) to (4) to monitor the next section.
最佳感应位置是指爬壁机器人采集芯片信息信号最佳的位置。The best sensing position refers to the best position for the wall-climbing robot to collect chip information signals.
与现有技术相比，本发明的有益效果为：Compared with prior art, the beneficial effect of the present invention is:
本发明采用全自动实时高精度监测系统，具有专业自动预警、预报功能。施工过程中数据采集系统可实现实时高精度自动监测、数据实时传输、服务器后台综合分析、快速自动预警，以爬壁机器人采集的监控量测数据为基础，对不同种类的地质灾害，建立与之相应的指标评价系统，建立一套科学有效的风险等级综合评，指导安全施工。The invention adopts a full-automatic real-time high-precision monitoring system, and has professional automatic early warning and forecast functions. During the construction process, the data acquisition system can realize real-time high-precision automatic monitoring, real-time data transmission, comprehensive analysis of the server background, and fast automatic early warning. The corresponding index evaluation system establishes a set of scientific and effective risk level comprehensive evaluation to guide safe construction.
附图说明Description of drawings
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。The accompanying drawings constituting a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application, and do not constitute improper limitations to the present application.
图1是本发明的总体示意图；Fig. 1 is the general schematic diagram of the present invention;
图2是本发明的数据采集系统示意图；Fig. 2 is a schematic diagram of a data acquisition system of the present invention;
图3是本发明的监测模块示意图；Fig. 3 is a schematic diagram of a monitoring module of the present invention;
图4是本发明的数据分析系统示意图；Fig. 4 is a schematic diagram of the data analysis system of the present invention;
图5是本发明的风险评估工作室示意图；Fig. 5 is a schematic diagram of the risk assessment workshop of the present invention;
其中，1.隧道与地下工程塌方落石高精度智慧感知监测-预警系统，2.数据采集系统，3.数据传输系统，4.数据分析系统，5.预警系统，6.监测断面(a1，a2，b1为测点埋设位置)，7.爬壁机器人，8.校核模块，9.一体化摄像头，10.芯片感应器，11.数据传输模块，12.现场监测数据，13.风险评估工作室，14.数据整理，15.数据处理，16.隧道与地下工程风险评价，17.数据分析室，18.远程控制室，19.服务器。Among them, 1. Tunnel and underground engineering landslide high-precision intelligent perception monitoring-early warning system, 2. Data acquisition system, 3. Data transmission system, 4. Data analysis system, 5. Early warning system, 6. Monitoring section (a1, a2 , b1 is the buried position of the measuring point), 7. Wall-climbing robot, 8. Calibration module, 9. Integrated camera, 10. Chip sensor, 11. Data transmission module, 12. On-site monitoring data, 13. Risk assessment work Room, 14. Data sorting, 15. Data processing, 16. Risk assessment of tunnel and underground engineering, 17. Data analysis room, 18. Remote control room, 19. Server.
具体实施方式：detailed description:
下面结合附图与实施例对本发明作进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
应该指出，以下详细说明都是例示性的，旨在对本申请提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。It should be pointed out that the following detailed description is exemplary and intended to provide further explanation to the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。It should be noted that the terminology used here is only for describing specific implementations, and is not intended to limit the exemplary implementations according to the present application. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural, and it should also be understood that when the terms "comprising" and/or "comprising" are used in this specification, they mean There are features, steps, operations, means, components and/or combinations thereof.
正如背景技术所介绍的，现有技术中存在受隧道与地下工程施工影响较大，测量精度不高，很容易造成施工阻碍，还无法实现全自动实时快速监测，而且对做完二衬的变形情况无法监测，对塌方的预测还远远不够，同时由于数据存储、传输、分析、处理等工作量很大，时效性较差，灾害风险评估预警不系统，不利于指导施工的多项不足，为了解决如上的技术问题，本申请提出了一种适用于隧道与地下工程监控量测信息的智慧感知系统及方法。As introduced in the background technology, in the existing technology, there is a great impact on the construction of tunnels and underground engineering, the measurement accuracy is not high, it is easy to cause construction obstacles, and it is impossible to realize automatic real-time rapid monitoring, and the deformation of the second lining The situation cannot be monitored, and the prediction of landslides is far from enough. At the same time, due to the heavy workload of data storage, transmission, analysis, and processing, the timeliness is poor, and the disaster risk assessment and early warning is not systematic, which is not conducive to guiding construction. In order to solve the above technical problems, the present application proposes an intelligent perception system and method suitable for monitoring and measuring information of tunnels and underground engineering.
该系统是根据隧道与地下工程监测信息化开发的一个全自动施工监测与信息管理系统，基于数据库管理系统运行，运用定位芯片感应自动测量技术为一体，具有专业自动预警功能。施工过程中该系统按相关频率要求自动进行数据采集、数据及时传输、服务器后台综合分析、自动进行预警，指导安全施工。本发明解决了隧道与地下工程监控量测人工测量时效性差，安全评价系统不规范的困难。The system is a fully automatic construction monitoring and information management system developed based on the informatization of tunnel and underground engineering monitoring. It operates on the basis of a database management system, uses positioning chip sensing and automatic measurement technology as a whole, and has a professional automatic early warning function. During the construction process, the system automatically collects data according to the relevant frequency requirements, transmits data in time, comprehensively analyzes the server background, and automatically performs early warning to guide safe construction. The invention solves the difficulties of poor timeliness of manual measurement and non-standard safety evaluation system of tunnel and underground engineering monitoring and measurement.
系统主要由数据采集系统、数据传输系统、数据分析系统、预警系统四部分构成。所述数据采集系统包括预制监测套管、爬壁机器人、校准模块三部分；所述爬壁机器人包括一体化摄像头、芯片感应器、远程控制模块；所述数据传输系统由无线传输的方式将现场采集的数据传输至风险评估工作室，传输系统内嵌至数据采集系统；风险评估工作室的所述数据分析系统将现场采集的数据整理和处理，评价隧道与地下工程施工安全等级；所述预警系统将分析的数据进行预警分级；所述一体化摄像头可进行现场拍照和现场摄像；所述爬壁机器人内嵌无线控制模块，可远程控制爬壁机器人移动进行监测；所述芯片感应器可感应监测点芯片发出的信号，定位芯片位置信息；所述校准模块包括两个后视基准点，可自动校核后视点坐标。The system is mainly composed of four parts: data acquisition system, data transmission system, data analysis system and early warning system. The data acquisition system includes three parts: a prefabricated monitoring casing, a wall-climbing robot, and a calibration module; the wall-climbing robot includes an integrated camera, a chip sensor, and a remote control module; The collected data is transmitted to the risk assessment studio, and the transmission system is embedded in the data acquisition system; the data analysis system in the risk assessment studio organizes and processes the data collected on site, and evaluates the construction safety level of tunnels and underground projects; the early warning The system will analyze the data for early warning and classification; the integrated camera can take pictures and video on the spot; the wall-climbing robot is embedded with a wireless control module, which can remotely control the movement of the wall-climbing robot for monitoring; the chip sensor can sense The signal sent by the monitoring point chip is used to locate the position information of the chip; the calibration module includes two backsight reference points, which can automatically check the coordinates of the backsight point.
作为本发明的一种优选方案，所述数据采集系统包括预制监测套管、爬壁机器人、校准模块三部分，三部分相互作用，实现隧道与地下工程内全自动化数据采集工作。As a preferred solution of the present invention, the data acquisition system includes three parts: a prefabricated monitoring casing, a wall-climbing robot, and a calibration module. The three parts interact to realize fully automatic data acquisition in tunnels and underground engineering.
作为本发明的一种优选方案，所述爬壁机器人包括一体化摄像头、芯片感应器、远程控制模块。As a preferred solution of the present invention, the wall-climbing robot includes an integrated camera, a chip sensor, and a remote control module.
作为本发明的一种优选方案，所述测点预制套管含有位移传感器，可以把围岩位移转换成电信号，芯片感应器可接收到这种电信号。As a preferred solution of the present invention, the prefabricated casing at the measuring point contains a displacement sensor, which can convert the displacement of the surrounding rock into an electrical signal, and the chip sensor can receive the electrical signal.
作为本发明的一种优选方案，所述测点预制套管需与隧道与地下工程围岩紧密锚固，套管与围岩紧密锚固在一起可提高变形监测的准确度。As a preferred solution of the present invention, the prefabricated casing at the measuring point needs to be tightly anchored with the surrounding rock of the tunnel and underground engineering, and the casing and the surrounding rock are tightly anchored together to improve the accuracy of deformation monitoring.
作为本发明的一种优选方案，所述测点预制套管直径为38cm，便于锚固在直径为40cm的钻孔内与围岩紧密接触。As a preferred solution of the present invention, the diameter of the prefabricated casing at the measuring point is 38 cm, which is convenient for anchoring in a borehole with a diameter of 40 cm to closely contact with the surrounding rock.
作为本发明的一种优选方案，所述测点预制套管作为收敛监测点时倾斜30度埋入隧道与地下工程开挖边墙内，便于监测隧道与地下工程开挖过程中围岩的变形情况。As a preferred solution of the present invention, when the prefabricated casing of the measuring point is used as the convergence monitoring point, it is buried in the excavation side wall of the tunnel and the underground engineering with an inclination of 30 degrees, so as to facilitate the monitoring of the deformation of the surrounding rock during the excavation of the tunnel and the underground engineering Condition.
作为本发明的一种优选方案，所述测点预制套管作为拱顶监测点时垂直埋入隧道与地下工程拱顶处，便于监测隧道与地下工程拱顶处垂直方向的围岩变形情况。As a preferred solution of the present invention, when the prefabricated casing of the measuring point is used as the vault monitoring point, it is vertically buried in the tunnel and the vault of the underground engineering, so as to facilitate monitoring the deformation of the surrounding rock in the vertical direction at the vault of the tunnel and the underground engineering.
作为本发明的一种优选方案，所述测点预制套管含有定位芯片，芯片感应器通过感应芯片位置确定预制套管的位置，监测围岩位移变化情况。As a preferred solution of the present invention, the prefabricated casing at the measuring point contains a positioning chip, and the chip sensor determines the position of the prefabricated casing by sensing the position of the chip, and monitors the displacement change of the surrounding rock.
作为本发明的一种优选方案，所述定位芯片里边有可被远程控制的开关，当装置被远程打开后，将会发出一种信号，而这种信号可以被具有无线传输功能的传感设备接收到，从而被系统执行并将发出信号的位置信息传输给芯片感应接收器。As a preferred solution of the present invention, there is a switch in the positioning chip that can be remotely controlled. When the device is remotely turned on, a signal will be sent, and this signal can be detected by a sensor device with wireless transmission function. Received, thereby executed by the system and transmitting the signaled position information to the chip sensing receiver.
作为本发明的一种优选方案，所述爬壁机器人中包含一体化摄像头、芯片感应器、远程控制模块，可在隧道与地下工程围岩上通过远程控制自由移动，受施工干扰影响较小。As a preferred solution of the present invention, the wall-climbing robot includes an integrated camera, a chip sensor, and a remote control module, which can move freely in tunnels and underground engineering surrounding rocks through remote control, and are less affected by construction interference.
作为本发明的一种优选方案，所述爬壁机器人含有芯片感应器，可以接收到测点芯片发出的信号，定位芯片的坐标。As a preferred solution of the present invention, the wall-climbing robot includes a chip sensor, which can receive the signal sent by the measuring point chip and locate the coordinates of the chip.
作为本发明的一种优选方案，所述一体化摄像头可同时进行测量拍照摄像，实现监测过程的可视化。As a preferred solution of the present invention, the integrated camera can simultaneously take measurements, take pictures and take pictures, so as to realize the visualization of the monitoring process.
作为本发明的一种优选方案，所述校准模块含有两个后视基准点，埋设在二次衬砌拱腰处，围岩稳定，便于数据采集之前的定位工作。As a preferred solution of the present invention, the calibration module contains two backsight reference points, buried at the arch waist of the secondary lining, the surrounding rock is stable, and it is convenient for positioning before data collection.
作为本发明的一种优选方案，所述两个后视基准点内置芯片储存后视点坐标信息，芯片感应器可获取坐标信息进行定位。As a preferred solution of the present invention, the built-in chips of the two backsight reference points store the coordinate information of the backsight point, and the chip sensor can obtain the coordinate information for positioning.
作为本发明的一种优选方案，所述数据传输模块内嵌至数据采集系统内，采用无线传输的方式，可以实时将采集数据传输至监测-预警工作室。As a preferred solution of the present invention, the data transmission module is embedded in the data acquisition system, and the collected data can be transmitted to the monitoring-warning studio in real time by means of wireless transmission.
作为本发明的一种优选方案，所述风险评估工作室包括数据分析室、远程控制室、服务器，可进行数据储存、整理、处理、分析，实时将分析结果进行反馈施工。As a preferred solution of the present invention, the risk assessment studio includes a data analysis room, a remote control room, and a server, which can store, organize, process, and analyze data, and feed back the analysis results to construction in real time.
作为本发明的一种优选方案，所述数据分析系统内含隧道与地下工程风险评价体系，通过对监测数据的分析，对不同种类的塌方进行预警、预报，反馈至报警系统，指导现场施工。As a preferred solution of the present invention, the data analysis system includes a risk assessment system for tunnels and underground projects. Through the analysis of monitoring data, different types of landslides can be pre-warned and predicted, and fed back to the alarm system to guide on-site construction.
作为本发明的一种优选方案，所述数据分析系统将现场监测数据录入后处理软件后,可通过公式自动计算把测得的数据转化为位移值等，系统可以方便的绘制并查看根据监测数据得到的各种时态曲线、空间效应曲线图。As a preferred solution of the present invention, after the data analysis system enters the on-site monitoring data into the post-processing software, it can automatically calculate and convert the measured data into displacement values through formulas, and the system can conveniently draw and view according to the monitoring data. Various temporal curves and spatial effect curves obtained.
作为本发明的一种优选方案，所述数据分析系统可对监测曲线进行回归分析,系统根据回归曲线的发展趋势,分析支护结构受力和围岩变形随开挖面推进和时间变化的情况,对变形趋势进行初步预测。As a preferred solution of the present invention, the data analysis system can perform regression analysis on the monitoring curve, and the system can analyze the force of the support structure and the deformation of the surrounding rock as the excavation face advances and changes with time according to the development trend of the regression curve. , to preliminarily predict the deformation trend.
作为本发明的一种优选方案，所述预警系统将分析的数据进行预警分级。利用不同等级的预警规范施工，将施工风险降低，保障施工安全。As a preferred solution of the present invention, the early warning system performs early warning classification on the analyzed data. Use different levels of early warning to standardize construction, reduce construction risks and ensure construction safety.
工作方法，包括以下步骤：The working method includes the following steps:
步骤1：隧道与地下工程开挖时，使用φ40钻头在测点埋设位置打孔后将预制监测套管埋入，其中拱顶测点垂直于拱顶，周边收敛点斜30度埋入边墙；Step 1: When excavating tunnels and underground works, use a φ40 drill bit to drill holes at the embedding position of the measuring point and embed the prefabricated monitoring casing. The measuring point of the vault is perpendicular to the vault, and the surrounding convergence point is buried in the side wall at an angle of 30 degrees. ;
步骤2：数据采集系统通过基准控制点定向后，爬壁机器人移至断面最佳感应位置，芯片感应器感应位移传感器芯片的位置，获取其位置信息；Step 2: After the data acquisition system is oriented by the reference control point, the wall-climbing robot moves to the best sensing position of the section, and the chip sensor senses the position of the displacement sensor chip to obtain its position information;
步骤3：将数据采集系统获取的数据利用无线传输模块实时传至风险评估工作室；Step 3: Use the wireless transmission module to transmit the data acquired by the data acquisition system to the risk assessment studio in real time;
步骤4：风险评估工作室将获取的数据整理处理储存后通过隧道与地下工程安全评价系统将分析结果传输至预警系统；Step 4: The risk assessment studio organizes, processes and stores the acquired data, and then transmits the analysis results to the early warning system through the tunnel and underground engineering safety evaluation system;
步骤5：预警系统根据分析结果将预警等级通过数据传输系统反馈至数据采集系统，其中预警系统可将分析的数据进行预警分级，将预警信息反馈至施工现场，指导施工；Step 5: The early warning system feeds back the early warning level to the data acquisition system through the data transmission system according to the analysis results. The early warning system can classify the analyzed data, feed back the early warning information to the construction site, and guide the construction;
步骤6：重复步骤1至步骤5，监测下一断面。Step 6: Repeat steps 1 to 5 to monitor the next section.
本申请的一种典型的实施方式中，如图1所示，包括由数据采集系统(2)、数据传输系统(3)、数据分析系统(4)、预警系统(5)四部分构成。In a typical implementation of the present application, as shown in FIG. 1 , it consists of four parts: a data acquisition system (2), a data transmission system (3), a data analysis system (4), and an early warning system (5).
其中，如图2所示，数据采集系统(2)包括预制监测套管、爬壁机器人(7)、校准模块(8)三部分，如图3所示，爬壁机器人(7)包括一体化摄像头(9)、芯片感应器(10)，数据传输模块(11)内嵌至数据采集系统(2)中。Among them, as shown in Figure 2, the data acquisition system (2) includes three parts: a prefabricated monitoring casing, a wall-climbing robot (7), and a calibration module (8). As shown in Figure 3, the wall-climbing robot (7) includes an integrated A camera (9), a chip sensor (10), and a data transmission module (11) are embedded in the data acquisition system (2).
预制监测套管，为一圆柱套管，内部设置有位移传感器和定位芯片，分别将围岩位移转换成电信号和确定套管所在位置，以得到围岩变形情况和围岩位移变化情况。The prefabricated monitoring casing is a cylindrical casing with a displacement sensor and a positioning chip inside, which convert the displacement of the surrounding rock into electrical signals and determine the location of the casing respectively, so as to obtain the deformation and displacement of the surrounding rock.
进一步的，所述预制监测套管作为收敛监测点时倾斜一定角度埋入隧道与地下工程开挖边墙内，便于监测隧道与地下工程开挖过程中围岩的变形情况。Further, when the prefabricated monitoring casing is used as a convergence monitoring point, it is buried at a certain angle at an inclination in the excavation side walls of tunnels and underground works, which is convenient for monitoring the deformation of surrounding rock during the excavation of tunnels and underground works.
优选的，倾斜角度为20-40度。Preferably, the inclination angle is 20-40 degrees.
预制监测套管作为拱顶监测点时垂直埋入隧道与地下工程拱顶处，以监测隧道与地下工程拱顶处垂直方向的围岩变形情况。When the prefabricated monitoring casing is used as the vault monitoring point, it is vertically buried in the tunnel and the vault of the underground project to monitor the deformation of the surrounding rock in the vertical direction of the tunnel and the vault of the underground project.
围岩上设置有钻孔，所述预制监测套管通过锚固在钻孔内与围岩紧密接触。The surrounding rock is provided with a borehole, and the prefabricated monitoring casing is in close contact with the surrounding rock through anchoring in the borehole.
爬壁机器人(7)可在隧道与地下工程围岩上移动进行断面监测。爬壁机器人(7)包括机器人本体和设置于机器人本体上的图像采集模块、芯片感应器和远程控制模块，芯片感应器与预制监测套管的位移传感器和定位芯片通信，接收其采集的信息，所述远程控制模块远程控制定位芯片的开关，同时接收控制指令，控制机器人本体进行运动。The wall-climbing robot (7) can move on tunnels and surrounding rocks of underground engineering for section monitoring. The wall-climbing robot (7) includes a robot body and an image acquisition module, a chip sensor and a remote control module arranged on the robot body, and the chip sensor communicates with the displacement sensor and the positioning chip of the prefabricated monitoring sleeve to receive the information it collects, The remote control module remotely controls the switch of the positioning chip, and at the same time receives control instructions to control the movement of the robot body.
如图4所示，数据分析系统(4)包括数据整理(14)，数据处理(15)，将现场监测数据(12)传输至风险评估工作室(13)进行数据整理(14)和数据处理(15)，通过数据评价体系将分析结果进行隧道与地下工程风险评价(20)。As shown in Figure 4, the data analysis system (4) includes data collation (14), data processing (15), and the on-site monitoring data (12) is transmitted to the risk assessment studio (13) for data collation (14) and data processing (15), through the data evaluation system, carry out the risk evaluation of tunnel and underground engineering on the analysis results (20).
如图5所示，风险评估工作室(13)包括数据分析室(17)，远程控制室(18)，服务器(19)三部分组成，服务器(19)可以储存采集的数据，远程控制室(18)进行远程控制，预制监测套管的定位芯片里边有可被远程控制的开关，当装置被远程打开后，将会发出一种信号，而这种信号可以被具有无线传输功能的传感设备接收到，从而被系统执行并将发出信号的位置信息传输给芯片感应接收器，爬壁机器人(7)的远程控制模块等都与远程控制室(18)通信。As shown in Figure 5, the risk assessment studio (13) includes a data analysis room (17), a remote control room (18), and a server (19) is composed of three parts. The server (19) can store the collected data, and the remote control room ( 18) For remote control, the positioning chip of the prefabricated monitoring casing has a switch that can be remotely controlled. When the device is remotely opened, a signal will be sent, and this signal can be detected by the sensor device with wireless transmission function. Received, thereby being executed by the system and transmitting the position information of the signal to the chip induction receiver, the remote control module of the wall climbing robot (7), etc. all communicate with the remote control room (18).
风险评估工作室(13)将测得的数据转化为位移值，绘制并查看根据监测数据得到的各种时态曲线、空间效应曲线图，对监测数据的分析，对不同种类的塌方进行预警、预报The risk assessment studio (13) converts the measured data into displacement values, draws and views various temporal curves and spatial effect curves obtained from the monitoring data, analyzes the monitoring data, and provides early warning and warning of different types of landslides. forecast
一种适用于隧道与地下工程监控量测信息的智慧感知系统的工作方法，包括以下步骤：A working method of an intelligent perception system suitable for monitoring and measuring information of tunnels and underground engineering, comprising the following steps:
步骤1：隧道与地下工程开挖时，使用φ40钻头在测点埋设位置打孔后将预制监测套管埋入，其中拱顶测点垂直于拱顶，周边收敛点斜30度埋入边墙；Step 1: When excavating tunnels and underground works, use a φ40 drill bit to drill holes at the embedding position of the measuring point and embed the prefabricated monitoring casing. The measuring point of the vault is perpendicular to the vault, and the surrounding convergence point is buried in the side wall at an angle of 30 degrees. ;
步骤2：数据采集系统(2)通过基准控制点定向后，爬壁机器人(7)移至断面最佳感应位置，芯片感应器(10)感应位移传感器芯片的位置，获取其位置信息；Step 2: After the data acquisition system (2) is oriented by the reference control point, the wall-climbing robot (7) moves to the optimal sensing position of the section, and the chip sensor (10) senses the position of the displacement sensor chip to obtain its position information;
步骤3：将数据采集系统(2)获取的数据利用无线传输模块(11)实时传至风险评估工作室(13)；Step 3: using the wireless transmission module (11) to transmit the data obtained by the data acquisition system (2) to the risk assessment studio (13) in real time;
步骤4：风险评估工作室(13)将获取的数据整理处理储存后通过隧道与地下工程安全评价系统将分析结果传输至预警系统(5)；Step 4: The risk assessment studio (13) organizes, processes, and stores the acquired data, and then transmits the analysis results to the early warning system (5) through the tunnel and underground engineering safety evaluation system;
步骤5：预警系统(5)根据分析结果将预警等级通过数据传输系统反馈至数据采集系统(2)，其中预警系统可将分析的数据进行预警分级，将预警信息反馈至施工现场，指导施工；Step 5: The early warning system (5) feeds back the early warning level to the data acquisition system (2) through the data transmission system according to the analysis results, wherein the early warning system can classify the analyzed data, feed back the early warning information to the construction site, and guide the construction;
步骤6：重复步骤1至步骤5，监测下一断面。Step 6: Repeat steps 1 to 5 to monitor the next section.
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, there may be various modifications and changes in the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of this application shall be included within the protection scope of this application.
上述虽然结合附图对本发明的具体实施方式进行了描述，但并非对本发明保护范围的限制，所属领域技术人员应该明白，在本发明的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本发明的保护范围以内。Although the specific implementation of the present invention has been described above in conjunction with the accompanying drawings, it does not limit the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, those skilled in the art do not need to pay creative work Various modifications or variations that can be made are still within the protection scope of the present invention.
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