CN107063179A - A kind of movable tunnel cross section deformation detection means - Google Patents
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Abstract
本发明涉及一种可移动式隧道断面变形检测装置，所述装置包括：可移动模块，用于实现装置在隧道内的移动；信息采集模块，使用时安装于可移动模块上，用于采集隧道断面的形状信息和可移动模块的里程定位信息；信息处理模块，使用时安装于可移动模块上并与信息采集模块连接，用于根据信息模块采集的结果判断隧道断面是否发生形变以及形变发生的位置。与现有技术相比，本发明具有变形检测准确、检测误差小、便于安装运输以及节省成本等优点。
The invention relates to a movable tunnel section deformation detection device, the device comprises: a movable module for realizing the movement of the device in the tunnel; an information collection module installed on the movable module for collecting tunnel The shape information of the section and the mileage positioning information of the movable module; the information processing module is installed on the movable module and connected with the information collection module when in use, and is used to judge whether the tunnel section is deformed and whether the deformation occurs according to the results collected by the information module Location. Compared with the prior art, the invention has the advantages of accurate deformation detection, small detection error, convenient installation and transportation, cost saving and the like.
Description
技术领域technical field
本发明涉及土木工程技术领域，尤其是涉及一种可移动式隧道断面变形检测装置。The invention relates to the technical field of civil engineering, in particular to a movable detection device for deformation of tunnel section.
背景技术Background technique
目前，我国城市轨道交通发展迅速，已有十几个城市开通了地铁，地铁已成为市民出行的重要方式，保障地铁运行安全责任重大。At present, my country's urban rail transit is developing rapidly, and more than a dozen cities have opened subways. The subway has become an important way for citizens to travel, and the responsibility for ensuring the safety of subway operation is heavy.
盾构隧道施工和地铁运营期间的安全问题主要表现在以下几个方面：隧道下卧软土层在长期振动荷载作用下软化导致沉降；隧道邻近建筑施工活动引起隧道变形；区间隧道下卧土层水土流失造成破坏性纵向变形；隧道经过不同土质情况地区时，土体物理学性质差异导致隧道结构在长期荷载作用下产生不均匀沉降；软土盾构隧道不均匀沉降引起管片接缝张开、地铁道床与管片剥离开裂，部分位置出现渗漏水、冒泥和局部破坏，影响隧道的正常使用和地铁运营。The safety problems during shield tunnel construction and subway operation are mainly manifested in the following aspects: the soft soil layer under the tunnel softens under the long-term vibration load and causes settlement; the construction activities near the tunnel cause tunnel deformation; the underlying soil layer of the interval tunnel Water and soil loss causes destructive longitudinal deformation; when the tunnel passes through areas with different soil conditions, the difference in soil physical properties leads to uneven settlement of the tunnel structure under long-term load; uneven settlement of soft soil shield tunnels causes segment joints to open , The subway track bed and the segments were peeled off and cracked, and water leakage, mud and local damage occurred in some positions, which affected the normal use of the tunnel and the operation of the subway.
目前国内对隧道施工阶段的监测技术已比较成熟，但是对隧道运营期间的监测重视程度远远不够。事实上，运营阶段因时间跨度大、影响因素复杂、灾害社会影响大，隧道的健康监测更应受重视。隧道健康监测包括隧道结构腐蚀监测、结构变形监测、结构内力监测和环境情况监测，其中尤其是结构变形监测非常重要，其监测内容主要为隧道的垂直沉降、水平位移和断面的收敛变形。At present, the domestic monitoring technology for the tunnel construction stage is relatively mature, but the attention paid to the monitoring during the tunnel operation period is far from enough. In fact, due to the long time span, complex influencing factors, and large social impact of disasters in the operation stage, more attention should be paid to the health monitoring of tunnels. Tunnel health monitoring includes tunnel structure corrosion monitoring, structural deformation monitoring, structural internal force monitoring and environmental monitoring, among which structural deformation monitoring is very important, and its monitoring content mainly includes tunnel vertical settlement, horizontal displacement and section convergence deformation.
对于隧道断面的收敛变形的检测，目前已有的几种方法包括人工断面测量、三维激光扫描和隧道检测小车，人工检测不仅精度低而且花费时间长，三维激光扫描虽然达到了高精度测量但是仪器价格过于昂贵，且无法实时显示测得的数据，隧道检测小车目前采用的是国外的安伯格GRP5000小车，这种小车不仅价格昂贵，而且主要是对隧道断面内部的裂缝及渗水等情况进行检测，而不能对隧道断面的变形状况进行检测。For the detection of the convergence deformation of the tunnel section, there are currently several methods including manual section measurement, 3D laser scanning and tunnel inspection trolley. Manual detection is not only low in accuracy but also takes a long time. The price is too expensive, and the measured data cannot be displayed in real time. The tunnel inspection car currently uses the foreign Amberg GRP5000 car. This car is not only expensive, but also mainly detects cracks and water seepage inside the tunnel section. , but cannot detect the deformation of the tunnel section.
发明内容Contents of the invention
本发明的目的是针对上述问题提供一种可移动式隧道断面变形检测装置。The object of the present invention is to provide a movable tunnel section deformation detection device to solve the above problems.
本发明的目的可以通过以下技术方案来实现：The purpose of the present invention can be achieved through the following technical solutions:
一种可移动式隧道断面变形检测装置，所述装置包括：A mobile tunnel section deformation detection device, said device comprising:
可移动模块，用于实现装置在隧道内的移动；The movable module is used to realize the movement of the device in the tunnel;
信息采集模块，使用时安装于可移动模块上，用于采集隧道断面的形状信息和可移动模块的里程定位信息；The information collection module is installed on the movable module when in use, and is used to collect the shape information of the tunnel section and the mileage positioning information of the movable module;
信息处理模块，使用时安装于可移动模块上并与信息采集模块连接，用于根据信息模块采集的结果判断隧道断面是否发生形变以及形变发生的位置。The information processing module is installed on the movable module and connected with the information collection module when in use, and is used to judge whether the tunnel section is deformed and the position where the deformation occurs according to the results collected by the information module.
所述信息采集模块包括：The information collection module includes:
隧道形状采集组件，与信息处理模块连接，用于通过扫描隧道断面采集隧道的形状信息；The tunnel shape collection component is connected with the information processing module, and is used to collect the shape information of the tunnel by scanning the tunnel section;
里程定位信息采集组件，分别与可移动模块和信息处理模块连接，用于将可移动模块的行走里程上传至上位机中。The mileage positioning information collection component is connected with the movable module and the information processing module respectively, and is used to upload the traveling mileage of the movable module to the host computer.
所述隧道形状采集组件包括：The tunnel shape acquisition assembly includes:
激光扫描仪，用于扫描隧道断面的形状并得到低精确度的隧道形状扫描点；Laser scanner, used to scan the shape of the tunnel section and obtain low-precision tunnel shape scanning points;
激光测距仪，用于通过激光测距得到高精确度的隧道形状扫描点。Laser rangefinder, used to obtain high-precision tunnel shape scanning points through laser distance measurement.
所述激光测距仪的数量为3～5个。The number of the laser range finders is 3-5.
所述里程定位信息采集组件包括：The mileage positioning information collection component includes:
激光编码器，固定于可移动模块上，用于将可移动模块的里程定位信息转化为电压脉冲上传至信息处理模块中；A laser encoder, fixed on the movable module, is used to convert the mileage positioning information of the movable module into voltage pulses and upload them to the information processing module;
摄像机，使用时安装于可移动模块上，用于通过将拍摄的隧道图片上传至上位机中，实现对可移动模块的行走里程的误差修正。The camera is installed on the movable module when in use, and is used to correct the error of the traveling mileage of the movable module by uploading the captured tunnel pictures to the host computer.
所述信息处理模块包括：The information processing module includes:
扫描信息计算子模块，用于根据信息采集模块采集的隧道的形状信息，对隧道断面的形状进行椭圆拟合，得到隧道断面的截面方程；The scanning information calculation sub-module is used to perform ellipse fitting on the shape of the tunnel section according to the shape information of the tunnel collected by the information collection module to obtain a section equation of the tunnel section;
变形检测子模块，用于根据扫描信息计算子模块计算得到的隧道断面的截面方程，与历史数据进行比对，将数据改变值超过阈值的隧道断面记录为形变断面；The deformation detection sub-module is used to compare the section equation of the tunnel section calculated by the scanning information calculation sub-module with historical data, and record the tunnel section whose data change value exceeds a threshold value as a deformed section;
里程定位信息记录子模块，用于根据信息采集模块采集的可移动模块的里程定位信息，计算可移动模块的行走里程。The mileage positioning information recording sub-module is used to calculate the traveling mileage of the movable module according to the mileage positioning information of the movable module collected by the information collection module.
所述信息处理模块还包括数据整理子模块，用于记录形变断面及对应的形变位置，并在发生严重形变时向用户报警。The information processing module also includes a data sorting sub-module, which is used to record the deformation section and the corresponding deformation position, and alert the user when serious deformation occurs.
所述可移动模块包括：The removable modules include:
车架，用于作为可移动模块的支撑底座；The frame is used as a support base for the movable module;
移动轮，安装于车架底部，用于实现车架的移动；Moving wheels, installed at the bottom of the frame, are used to realize the movement of the frame;
行止组件，固定于车架上，用于控制车架移动或停止；The stop component is fixed on the frame and is used to control the movement or stop of the frame;
固定组件，固定于车架上，用于在使用时固定信息采集模块和信息处理模块。The fixing component is fixed on the vehicle frame and is used for fixing the information collection module and the information processing module when in use.
所述行止组件包括：The stop components include:
推把，固定于车架上并与移动轮连接，用于令车架移动并控制车架的行走方向；The push handle is fixed on the frame and connected with the moving wheels, and is used to move the frame and control the running direction of the frame;
手动刹车，固定于车架上并与移动轮连接，用于根据使用者的操作控制车架停止移动；Manual brake, fixed on the frame and connected with the moving wheels, is used to control the frame to stop moving according to the user's operation;
定位刹车，固定于车架上并分别与移动轮和信息处理模块连接，用于根据信息处理模块的控制信号控制车架停止移动。The positioning brake is fixed on the vehicle frame and is respectively connected with the moving wheels and the information processing module, and is used to control the vehicle frame to stop moving according to the control signal of the information processing module.
所述车架为伸缩车架。The vehicle frame is a telescopic vehicle frame.
与现有技术相比，本发明具有以下有益效果：Compared with the prior art, the present invention has the following beneficial effects:
(1)通过可移动模块带动信息采集模块在隧道内移动，对隧道断面的形状信息进行采集，并利用信息处理模块将采集到的形状信息进行形状拟合，得到当前隧道断面的具体形状，与保存在信息处理模块中的历史形状进行比对，可以及时发现隧道断面形变大的区域并提醒工作人员注意，这种装置不仅可以精确的对隧道断面的形变进行检测，同时也具有实时性，在推动装置的行走过程中即可发现隧道断面中形变大的部分，便于及时发现问题并进行处理。(1) Drive the information collection module to move in the tunnel through the movable module, collect the shape information of the tunnel section, and use the information processing module to perform shape fitting on the collected shape information to obtain the specific shape of the current tunnel section. By comparing the historical shapes stored in the information processing module, the area with large deformation of the tunnel section can be found in time and remind the staff to pay attention. This device can not only accurately detect the deformation of the tunnel section, but also has real-time performance. During the walking process of the pushing device, the part with large deformation in the tunnel section can be found, so that it is convenient to find and deal with the problem in time.
(2)信息采集模块除了隧道形状采集组件外，还包括里程定位信息采集组件，即可以确定装置的行走里程，这样就可以将扫描得到的隧道断面形状与位置进行一一对应，便于将当前隧道断面形状与同一位置下的历史数据进行比较，便于数据的管理和统计。(2) In addition to the tunnel shape acquisition component, the information acquisition module also includes a mileage positioning information acquisition component, which can determine the travel mileage of the device, so that the scanned tunnel section shape and position can be one-to-one correspondence, which is convenient for the current tunnel The cross-sectional shape is compared with the historical data at the same location, which is convenient for data management and statistics.
(3)隧道形状采集组件包括激光扫描仪和激光测距仪，激光扫描仪可以得到低精确度的隧道形状扫描点，激光测距仪则是得到高精确度的隧道形状扫描点，二者结合再通过信息处理模块的分析计算，即可得到精确度较高的隧道断面形状，提高了对于形变检测的精确程度。(3) The tunnel shape acquisition component includes a laser scanner and a laser range finder. The laser scanner can obtain low-precision tunnel shape scanning points, and the laser range finder can obtain high-precision tunnel shape scanning points. The combination of the two Through the analysis and calculation of the information processing module, the tunnel section shape with high accuracy can be obtained, which improves the accuracy of deformation detection.
(4)激光测距仪的数量为3～5个，少于3个，高精确度的隧道形状扫描点过少，无法精确的恢复隧道形状，多于5个，激光测距仪占用装置的空间过大，一方面不便于安装另一方面也增大了经济成本，因此激光测距仪的数量定位3～5个。(4) The number of laser range finders is 3 to 5. If less than 3, the high-precision tunnel shape scanning points are too few to accurately restore the tunnel shape. The space is too large, on the one hand, it is not convenient for installation, on the other hand, it also increases the economic cost, so the number of laser range finders is positioned at 3 to 5.
(5)里程定位信息采集组件包括激光编码器和摄像机，激光编码器可以大致确定装置的行走里程，同时通过摄像机拍摄的隧道图片，可以对隧道环缝进行识别，精确得到当前装置所经过的环号和装置距离环缝之间的距离，确定装置的起始位置并消除纵向累计误差，使得定位更加精准。(5) The mileage positioning information acquisition component includes a laser encoder and a camera. The laser encoder can roughly determine the mileage of the device. At the same time, through the tunnel pictures taken by the camera, the tunnel ring seam can be identified, and the ring that the current device passes through can be accurately obtained. The distance between the number and the device and the circular seam determines the starting position of the device and eliminates the longitudinal cumulative error, making the positioning more accurate.
(6)扫描信息计算子模块通过根据采集的扫描点进行椭圆拟合，可以较为精确的拟合出当前隧道断面的形状，并通过变形检测子模块实现当前形状与历史形状的比对，确定形变断面，最后根据里程定位信息记录子模块确定形变断面的具体位置，通过三者的配合，精确的得到形变位置，检测准确性高。(6) The scanning information calculation sub-module can more accurately fit the shape of the current tunnel section by performing ellipse fitting according to the collected scanning points, and through the deformation detection sub-module, the comparison between the current shape and the historical shape can be realized to determine the deformation Section, and finally determine the specific position of the deformed section according to the mileage positioning information recording sub-module, through the cooperation of the three, the deformation position can be obtained accurately, and the detection accuracy is high.
(7)信息处理模块还包括数据整理子模块，便于用户对形变位置进行统计和对历史数据的查询，同时在发生严重形变时，信息处理模块会向用户发出警告，及时提醒用户对形变进行处理。(7) The information processing module also includes a data sorting sub-module, which is convenient for users to make statistics on the deformation position and query historical data. At the same time, when serious deformation occurs, the information processing module will issue a warning to the user and remind the user to deal with the deformation in time .
(8)可移动模块通过行止组件控制，便于在发现严重形变时停止移动令工作人员进行排查，实用性能强。(8) The movable module is controlled by the travel stop assembly, which is convenient for stopping the movement when serious deformation is found, so that the staff can check it, and has strong practical performance.
(9)行止组件既设有手动刹车也设有定位刹车，手动刹车便于工作人员对装置进行控制，定位刹车是在发生严重形变时自动根据信息处理模块的控制信号进行刹车，避免了工作人员因疏忽忘记对严重形变处进行检查的情况，安全性能高。(9) The travel stop assembly is equipped with both a manual brake and a positioning brake. The manual brake is convenient for the staff to control the device. The positioning brake automatically brakes according to the control signal of the information processing module when serious deformation occurs, avoiding the staff due to In the case of negligence and forgetting to check the serious deformation, the safety performance is high.
(10)车架为伸缩车架，便于运输和保存，在不用时将车架缩短存放，在使用时根据需求伸长车架，使用灵活。(10) The vehicle frame is a telescopic vehicle frame, which is convenient for transportation and storage. When not in use, the vehicle frame can be shortened and stored, and the vehicle frame can be extended according to the demand when in use, so it can be used flexibly.
附图说明Description of drawings
图1为本发明装置的整体结构示意图；Fig. 1 is the overall structural representation of device of the present invention;
图2为地铁隧道断面检测系统激光扫描示意图；Figure 2 is a schematic diagram of the laser scanning of the subway tunnel section detection system;
其中，1为激光扫描仪，2为信息处理模块，3为推把，4为激光测距仪，5为激光编码器。Among them, 1 is a laser scanner, 2 is an information processing module, 3 is a push handle, 4 is a laser rangefinder, and 5 is a laser encoder.
具体实施方式detailed description
下面结合附图和具体实施例对本发明进行详细说明。本实施例以本发明技术方案为前提进行实施，给出了详细的实施方式和具体的操作过程，但本发明的保护范围不限于下述的实施例。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
本实施例中提供了一种可移动式隧道断面变形检测装置，包括：可移动模块，用于实现装置在隧道内的移动；信息采集模块，使用时安装于可移动模块上，用于采集隧道断面的形状信息和可移动模块的里程定位信息；信息处理模块2，使用时安装于可移动模块上并与信息采集模块连接，用于根据信息模块采集的结果判断隧道断面是否发生形变以及形变发生的位置。This embodiment provides a movable tunnel section deformation detection device, including: a movable module, used to realize the movement of the device in the tunnel; an information collection module, installed on the movable module during use, for collecting tunnel The shape information of the section and the mileage positioning information of the movable module; the information processing module 2 is installed on the movable module and connected with the information collection module when in use, and is used to judge whether the tunnel section is deformed and whether the deformation occurs according to the results collected by the information module s position.
其中，信息采集模块包括：隧道形状采集组件，与信息处理模块2连接，用于通过扫描隧道断面采集隧道的形状信息；里程定位信息采集组件，分别与可移动模块和信息处理模块2连接，用于将可移动模块的行走里程上传至上位机中。隧道形状采集组件包括：激光扫描仪1，用于扫描隧道断面的形状并得到低精确度的隧道形状扫描点；激光测距仪4，用于通过激光测距得到高精确度的隧道形状扫描点。激光测距仪4的数量为3～5个。里程定位信息采集组件包括：激光编码器5，固定于可移动模块上，用于将可移动模块的里程定位信息转化为电压脉冲上传至信息处理模块2中；摄像机，使用时安装于可移动模块上，用于通过将拍摄的隧道图片上传至上位机中，实现对可移动模块的行走里程的误差修正。信息处理模块2包括：扫描信息计算子模块，用于根据信息采集模块采集的隧道的形状信息，对隧道断面的形状进行椭圆拟合，得到隧道断面的截面方程；变形检测子模块，用于根据扫描信息计算子模块计算得到的隧道断面的截面方程，与历史数据进行比对，将数据改变值超过阈值的隧道断面记录为形变断面；里程定位信息记录子模块，用于根据信息采集模块采集的可移动模块的里程定位信息，计算可移动模块的行走里程。信息处理模块2还包括数据整理子模块，用于记录形变断面及对应的形变位置，并在发生严重形变时向用户报警。可移动模块包括：车架，用于作为可移动模块的支撑底座；移动轮，安装于车架底部，用于实现车架的移动；行止组件，固定于车架上，用于控制车架移动或停止；固定组件，固定于车架上，用于在使用时固定信息采集模块和信息处理模块2。行止组件包括：推把3，固定于车架上并与移动轮连接，用于令车架移动并控制车架的行走方向；手动刹车，固定于车架上并与移动轮连接，用于根据使用者的操作控制车架停止移动；定位刹车，固定于车架上并分别与移动轮和信息处理模块2连接，用于根据信息处理模块2的控制信号控制车架停止移动。Wherein, the information collection module includes: a tunnel shape collection component, connected with the information processing module 2, for collecting shape information of the tunnel by scanning the tunnel section; a mileage positioning information collection component, connected with the movable module and the information processing module 2, respectively To upload the travel mileage of the movable module to the host computer. The tunnel shape acquisition component includes: laser scanner 1, used to scan the shape of the tunnel section and obtain low-precision tunnel shape scanning points; laser rangefinder 4, used to obtain high-precision tunnel shape scanning points through laser ranging . The number of laser range finders 4 is 3-5. The mileage positioning information acquisition component includes: a laser encoder 5, which is fixed on the movable module, and is used to convert the mileage positioning information of the movable module into a voltage pulse and upload it to the information processing module 2; a camera, which is installed on the movable module when in use It is used to realize the error correction of the traveling mileage of the movable module by uploading the captured tunnel pictures to the host computer. The information processing module 2 includes: a scanning information calculation submodule, which is used to perform ellipse fitting on the shape of the tunnel section according to the shape information of the tunnel collected by the information collection module, to obtain a section equation of the tunnel section; a deformation detection submodule, which is used to The section equation of the tunnel section calculated by the scanning information calculation sub-module is compared with the historical data, and the tunnel section whose data change value exceeds the threshold is recorded as a deformed section; The mileage positioning information of the movable module is used to calculate the traveling mileage of the movable module. The information processing module 2 also includes a data sorting sub-module, which is used to record the deformed section and the corresponding deformed position, and alert the user when serious deformation occurs. The movable module includes: the frame, which is used as the supporting base of the movable module; the moving wheel, which is installed at the bottom of the frame, is used to realize the movement of the frame; the stop assembly, which is fixed on the frame, is used to control the movement of the frame or stop; the fixing component is fixed on the vehicle frame and is used to fix the information collection module and the information processing module 2 when in use. The travel stop assembly includes: push handle 3, fixed on the vehicle frame and connected with the moving wheel, used to make the vehicle frame move and control the running direction of the vehicle frame; manual brake, fixed on the vehicle frame and connected with the moving wheel, used to The user's operation controls the frame to stop moving; the positioning brake is fixed on the frame and connected to the moving wheels and the information processing module 2 respectively, and is used to control the frame to stop moving according to the control signal of the information processing module 2 .
根据上述描述，设计的具体的可移动式隧道断面变形检测装置如图1所示，从图中可以看出，该装置的主体结构为一个可以在轨道上行走的轨道车，它适用于1435mm标准轨距的铁轨上，内存辅助小轮可在-6～+15mm自动调整，保证车辆紧贴轨道。在轨道车上有足够的空间并合理放置三台激光距离传感器，一台激光扫描仪1，一个测距轮，一个高清摄像机，一个手推把手，一台笔记本电脑，一个电池，这些设备在现场能够快速安装，轨道车在运输途中可以收缩减小体积方便运输，到安装现场再恢复。According to the above description, the specific mobile tunnel section deformation detection device designed is shown in Figure 1. It can be seen from the figure that the main structure of the device is a rail car that can walk on the track, and it is suitable for 1435mm standard On the rails with gauge gauge, the memory auxiliary small wheels can be automatically adjusted at -6~+15mm to ensure that the vehicle is close to the track. There is enough space on the rail car and reasonable placement of three laser distance sensors, a laser scanner 1, a distance measuring wheel, a high-definition camera, a hand push handle, a laptop computer, and a battery, these devices are on site It can be installed quickly, and the rail car can shrink and reduce its volume during transportation for convenient transportation, and it can be restored at the installation site.
激光测距仪4的测量范围：0.1m至100m，由于传感器配置了一个红色激光照准点，这样就能够非常方便地找到被测目标。传感器的测量效果取决于被测目标物体的表面反射率、形态和材质等。传感器基于相位差法测量原理。传感器发出的高频调制光照射到被测目标后形成漫反射，而反射光的相位将发生一定的偏移。将反射光的相位与参考光源进行比较就可以确定传感器与被测目标之间的距离。这种测量方法可达到毫米级测量精度。The measurement range of the laser rangefinder 4: 0.1m to 100m, since the sensor is equipped with a red laser aiming point, it is very convenient to find the measured target. The measurement effect of the sensor depends on the surface reflectivity, shape and material of the target object to be measured. The sensor is based on the phase difference measuring principle. The high-frequency modulated light emitted by the sensor irradiates the target to form diffuse reflection, and the phase of the reflected light will shift to a certain extent. Comparing the phase of the reflected light with a reference light source determines the distance between the sensor and the object being measured. This measurement method can achieve millimeter-level measurement accuracy.
激光扫描仪1采用成熟的激光-时间飞行原理，非接触式检测，且加入了最新的多次回波检测技术(两次回波)，使得即使在恶劣环境下也能精确测量。激光扫描仪1内部设有倾角计，用于得到系统设备安装所需得到的角度值。一般来说使用时是将两个190°激光扫描仪1拼接成360°的隧道整体轮廓图。Laser scanner 1 adopts the mature laser-time-of-flight principle, non-contact detection, and adds the latest multiple echo detection technology (double echo), so that it can measure accurately even in harsh environments. An inclinometer is provided inside the laser scanner 1 for obtaining an angle value required for system equipment installation. Generally speaking, two 190° laser scanners 1 are spliced together to form a 360° overall outline map of the tunnel during use.
激光编码器5通过传感器输出的电压脉冲，计算出行驶里程，从而得到检测位置的里程数据，由于激光编码器5只能得到车辆行走的距离数据，无法精确定位，在行驶过程中有近5‰的误差，所以加入图形处理技术，使用一个摄像机对隧道侧壁进行实时拍摄，同时为了保证照片质量，需要配备照明灯。软件对拍摄到的照片进行环缝识别，精确得到当前检测车所经过的环号和轨道车距离环缝的间距，确定检测车起始位置以及消除纵向累积误差。同时结合激光编码器5数据，就能做到精确定位每一个隧道环的断面数据。笔记本电脑用于控制所有传感器，完成数据采集、处理和显示，本实施例中选择可连续工作7小时以上的笔记本电脑。The laser encoder 5 calculates the mileage through the voltage pulse output by the sensor, so as to obtain the mileage data of the detected position. Since the laser encoder 5 can only obtain the distance data of the vehicle, it cannot accurately locate, and there are nearly 5‰ Therefore, graphics processing technology is added, and a camera is used to take real-time pictures of the side wall of the tunnel. At the same time, in order to ensure the quality of the pictures, lighting is required. The software recognizes the ring seam on the captured photos, accurately obtains the ring number passed by the current inspection car and the distance between the rail car and the ring seam, determines the starting position of the inspection car and eliminates the longitudinal cumulative error. At the same time, combined with the data of the laser encoder 5, the section data of each tunnel ring can be accurately positioned. The notebook computer is used to control all the sensors to complete data collection, processing and display. In this embodiment, a notebook computer that can work continuously for more than 7 hours is selected.
该装置的工作原理如下：The working principle of the device is as follows:
它以轨道的中心轴为基线，仪器安装于车架上，采用连续扫描隧道内断面若干点的位置信息，从测得的角度和距离信息中确定出目标点相对于隧道轨道中轴线中心的距离。通过车架上的电脑进行计算，有激光测距仪4测得的断面点的位置信息可以被计算成坐标值。这是由于激光测距仪4测得的位置信息是隧道内点与激光测距仪4的相对位置信息，并且激光测距仪4与检测车的相对位置不变，于是隧道内点相对于隧道轨道的相对位置可以换算得到，最后计算得到坐标值，从而完成对地铁隧道断面的快速检测。It takes the central axis of the track as the baseline, and the instrument is installed on the frame. It uses continuous scanning of the position information of several points in the section of the tunnel, and determines the distance of the target point from the center of the tunnel track center axis from the measured angle and distance information. . Through calculation by the computer on the vehicle frame, the position information of the section point measured by the laser range finder 4 can be calculated as a coordinate value. This is because the position information measured by the laser range finder 4 is the relative position information of the tunnel inner point and the laser range finder 4, and the relative position of the laser range finder 4 and the detection vehicle remains unchanged, so the tunnel inner point is relative to the tunnel. The relative position of the track can be converted, and finally the coordinate value is calculated, so as to complete the rapid detection of the subway tunnel section.
这种扫描方式具有速度快，结构设计较简单，扫描范围基本不受限制等特点，而且扫描精度高，容易控制。断面动态检测系统采用激光扫描仪1，将其直接安装于隧道检测车上，测得数据经拟合后可获得断面尺寸，结合车辆测速定位系统，将断面测量数据进行基于时间和里程的对应记录，通过统计分析断面尺寸及其变形趋势，实现对隧道全断面的状态监测。This scanning method has the characteristics of fast speed, relatively simple structural design, basically unlimited scanning range, etc., and has high scanning accuracy and is easy to control. The section dynamic detection system uses a laser scanner 1, which is directly installed on the tunnel inspection vehicle. The measured data can be fitted to obtain the section size. Combined with the vehicle speed measurement and positioning system, the section measurement data is recorded based on time and mileage. , through the statistical analysis of the section size and its deformation trend, the state monitoring of the entire section of the tunnel is realized.
地铁隧道断面检测系统激光扫描示意图如图2所示，假设激光扫描仪1安装位置为该测量系统的坐标原点(0，0)，测量得到的隧道轮廓坐标为(xn，yn)。激光测距仪4在检测车的安装位置坐标为(a1，b1)；(a2，b2)；(a3，b3)。如图所示此束激光的测距为L1；L2；L3，测量角度为α；90°；β，即可算出检测对应点的坐标(x1，y1)；(x2，y2)；(x3，y3)为：The laser scanning schematic diagram of the subway tunnel section detection system is shown in Figure 2. Assume that the installation position of the laser scanner 1 is the coordinate origin (0, 0) of the measurement system, and the measured tunnel contour coordinates are (x n , y n ). The coordinates of the installation position of the laser rangefinder 4 on the detection vehicle are (a1, b1); (a2, b2); (a3, b3). As shown in the figure, the distance measurement of this laser beam is L1; L2; L3, and the measurement angle is α; 90°; β, and the coordinates (x1, y1); (x2, y2); (x3, y3) is:
x1＝-L cosα+a1x1＝-L cosα+a1
y1＝L sinα+b1y1=L sinα+b1
本实施例中安装的三个激光测距仪4都以以上公式得到测点的坐标值。得到坐标值后通过椭圆拟合算法，可以得到隧道断面的截面方程。通过方程求得垂直和水平收敛监测点的数据，再将得到的数据与历史数据进行比较，即可判断隧道断面是否发生形变。The three laser range finders 4 installed in this embodiment all obtain the coordinate values of the measuring points by the above formula. After the coordinate values are obtained, the section equation of the tunnel section can be obtained through the ellipse fitting algorithm. Obtain the data of the vertical and horizontal convergence monitoring points through the equation, and then compare the obtained data with the historical data to determine whether the tunnel section is deformed.
基于上述原理可知该可移动式隧道断面变形检测装置的使用方式如下：将装置放上地铁轨道后，快速安装上信息采集模块，连接相关线缆，然后电脑开机，确认检测的时间。将装置行驶至待检测区段起始位置，使用图像处理技术校准其实测量位置。软件控制启动激光测距仪4，检测车连续行驶至检测区段未位置，完成区间断面扫描，检测数据在行驶过程中实时展现并存在电脑数据库中。Based on the above principles, it can be seen that the use of the mobile tunnel section deformation detection device is as follows: after the device is placed on the subway track, the information collection module is quickly installed, the relevant cables are connected, and then the computer is turned on to confirm the detection time. Drive the device to the starting position of the section to be detected, and use image processing technology to calibrate the actual measurement position. The laser range finder 4 is started under software control, and the inspection vehicle drives continuously to the end of the inspection section to complete the section scanning of the section, and the inspection data is displayed in real time during the driving process and stored in the computer database.
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| CN109489623B (en) * | 2018-11-24 | 2021-05-11 | 上海勘察设计研究院(集团)有限公司 | Method for measuring uneven settlement of approach at bridge head by adopting three-dimensional laser scanner |
| CN109736894A (en) * | 2018-11-27 | 2019-05-10 | 中国矿业大学 | A monitoring system, monitoring method and early warning method for surrounding rock disaster of coal mine roadway |
| CN110081857A (en) * | 2019-05-14 | 2019-08-02 | 长安大学 | A kind of earth's surface real-time monitoring system and monitoring method for shield-tunneling construction tunnel |
| CN110081857B (en) * | 2019-05-14 | 2024-04-12 | 长安大学 | Ground surface real-time monitoring system and monitoring method for shield construction tunnel |
| CN110514133A (en) * | 2019-09-30 | 2019-11-29 | 西南石油大学 | A method for detection of UAV tunnel deformation based on photogrammetry |
| CN110849325A (en) * | 2019-11-12 | 2020-02-28 | 栗新然 | Movable tunnel section deformation detection device |
| CN111693023A (en) * | 2020-06-18 | 2020-09-22 | 松辽水利委员会流域规划与政策研究中心 | Large-span river cross section measuring device |
| CN112781547A (en) * | 2020-12-31 | 2021-05-11 | 北京金日恒升科技有限公司 | Method for determining installation baseline of tunnel media system |
| CN113074694A (en) * | 2021-03-31 | 2021-07-06 | 中煤科工集团重庆研究院有限公司 | Automatic monitoring device for tunnel section deformation |
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