CN107063179B - A kind of movable tunnel cross section deformation detection device - Google Patents
A kind of movable tunnel cross section deformation detection device Download PDFInfo
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- CN107063179B CN107063179B CN201710286308.0A CN201710286308A CN107063179B CN 107063179 B CN107063179 B CN 107063179B CN 201710286308 A CN201710286308 A CN 201710286308A CN 107063179 B CN107063179 B CN 107063179B
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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Abstract
The present invention relates to a kind of movable tunnel cross section deformation detection device, described device includes: removable module, for realizing movement of the device in tunnel；Information acquisition module, when use, are installed on removable module, for acquiring the shape information of tunnel cross-section and the mileage location information of removable module；Message processing module, when use, are installed on removable module and connect with information acquisition module, and the result for being acquired according to information module judges the tunnel cross-section position that whether deformation occurs and deformation occurs.Compared with prior art, the present invention has many advantages, such as that deformation detection is accurate, detection error is small, be easily installed transport and saves cost.
Description
Technical field
The present invention relates to technical field of civil engineering, detect and fill more particularly, to a kind of movable tunnel cross section deformation
It sets.
Background technique
Currently, urban rail transit in China is quickly grown, subway has been opened in existing more than ten of city, and subway has become citizen
The important way of trip ensures that subway circulation safety responsibility is great.
Safety problem during shield tunnel construction and metro operation is mainly manifested in the following aspects: crouching under tunnel soft
Soil layer softens under Long-term Vibration load action to be caused to settle；Tunnel adjacent building construction activities cause tunnel deformation；Section tunnel
Sleeping soil layer soil erosion damaging property linear deformation under road；When tunnel passes through different soil property situation areas, soil body physics
Matter difference causes tunnel structure to generate differential settlement under action of long-term load；Shield Tunnel in Soft Soil differential settlement causes pipe
Piece seam is opened, subgrade of metro and section of jurisdiction removing crack, and portion percolating water occurs, emits mud and local failure, influences tunnel
Normal use and metro operation.
The monitoring technology to the constructing tunnel stage domestic at present comparative maturity, but to the monitoring weight during tunnel operation
Visual range degree is far from enough.In fact, operation stage because time span is big, influence factor is complicated, disaster social influence is big, tunnel
Health monitoring should more be paid attention to.Tunnel health monitoring includes tunnel structure corrosion monitoring, structural deformation monitoring, structural internal force measure
Monitored with ambient conditions, wherein especially structural deformation monitoring is extremely important, monitoring content be mainly tunnel vertical sedimentation,
The convergent deformation of horizontal displacement and section.
Detection for the convergent deformation of tunnel cross-section, current existing several method includes artificial section survey, three-dimensional
Laser scanning and Tunnel testing trolley, not only precision is low but also spends the time long for artificial detection, although 3 D laser scanning reaches
High-acruracy survey but instrument price is prohibitively expensive, and can not the data that measure of real-time display, Tunnel testing trolley adopts at present
External Amberg GRP5000 trolley, this trolley is not only expensive, but also mainly to tunnel cross-section inside
Situations such as crack and infiltration, is detected, and cannot detect to the deformation condition of tunnel cross-section.
Summary of the invention
The purpose of the present invention is provide a kind of movable tunnel cross section deformation detection device regarding to the issue above.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of movable tunnel cross section deformation detection device, described device include:
Removable module, for realizing movement of the device in tunnel；
Information acquisition module, when use, are installed on removable module, for acquire tunnel cross-section shape information and can
The mileage location information of mobile module；
Message processing module, when use, are installed on removable module and connect with information acquisition module, for according to letter
The result of breath module acquisition judges the tunnel cross-section position that whether deformation occurs and deformation occurs.
The information acquisition module includes:
Tunnel-shaped acquisition component, connect with message processing module, for acquiring the shape in tunnel by scanning-tunnelling section
Shape information；
Mileage locating information acquisition component, connect with removable module and message processing module respectively, for that will move
The walking mileage of module is uploaded in host computer.
The tunnel-shaped acquisition component includes:
Laser scanner, for scanning-tunnelling section shape and obtain the tunnel-shaped scanning element of low accuracy；
Laser range finder, for obtaining the tunnel-shaped scanning element of pinpoint accuracy by laser ranging.
The quantity of the laser range finder is 3~5.
The mileage locating information acquisition component includes:
Laser encoder is fixed on removable module, for converting electricity for the mileage location information of removable module
Pressure pulse is uploaded in message processing module；
Video camera, when use, are installed on removable module, for by the way that the tunnel picture of shooting is uploaded to host computer
In, realize the error correction of the walking mileage to removable module.
The message processing module includes:
Scanning information computational submodule, the shape information in the tunnel for being acquired according to information acquisition module are disconnected to tunnel
The shape in face carries out ellipse fitting, obtains the SECTION EQUATION of tunnel cross-section；
Deformation detection submodule, the section side of the tunnel cross-section for being calculated according to scanning information computational submodule
Journey is compared with historical data, and the tunnel cross-section that data change value is more than threshold value is recorded as deformation section；
Mileage location information record sub module, the mileage positioning of the removable module for being acquired according to information acquisition module
Information calculates the walking mileage of removable module.
The message processing module further includes data preparation submodule, for recording deformation section and corresponding deformation position
It sets, and alarms when serious deformation occurs to user.
The removable module includes:
Vehicle frame, for the support base as removable module；
Movable pulley is installed on bottom of frame, for realizing the movement of vehicle frame；
Whereabouts component, is fixed on vehicle frame, for controlling vehicle frame movement or stopping；
Fixation kit is fixed on vehicle frame, for fix information acquisition module and message processing module when in use.
The whereabouts component includes:
Handle is fixed on vehicle frame and connect with movable pulley, for enabling vehicle frame mobile and controlling the direction of travel of vehicle frame；
Hand-operated brake is fixed on vehicle frame and connect with movable pulley, stops for controlling vehicle frame according to the operation of user
It is mobile；
Position brake is fixed on vehicle frame and respectively with movable pulley and message processing module and connect, at according to information
The control signal control vehicle frame for managing module stops movement.
The vehicle frame is flexible vehicle frame.
Compared with prior art, the invention has the following advantages:
(1) drive information acquisition module to move in tunnel by removable module, to the shape information of tunnel cross-section into
Row acquisition, and collected shape information is subjected to form fit using message processing module, obtain the tool of current tunnel section
Shape is compared with the history shape being stored in message processing module, can find that tunnel cross-section deformation is big in time
Staff is simultaneously reminded note that this device not only can accurately detect the deformation of tunnel cross-section in region, while
With real-time, the part that deformation is big in tunnel cross-section can be found in the walking process of pushing meanss, convenient for discovery in time
Problem is simultaneously handled.
(2) information acquisition module further includes mileage locating information acquisition component other than tunnel-shaped acquisition component
With the walking mileage of determining device, the tunnel cross-section shape that scanning obtains can thus be corresponded with position, just
In current tunnel section configuration to be compared with the historical data under same position, convenient for the management and statistics of data.
(3) tunnel-shaped acquisition component includes laser scanner and laser range finder, the available low essence of laser scanner
The tunnel-shaped scanning element of exactness, laser range finder are then to obtain the tunnel-shaped scanning element of pinpoint accuracy, and the two combination is led to again
The analytical calculation for crossing message processing module can be obtained the higher tunnel cross-section shape of accuracy, improve for shape changing detection
Levels of precision.
(4) quantity of laser range finder is 3~5, is less than 3, the tunnel-shaped scanning element of pinpoint accuracy is very few, can not
It is accurate to restore tunnel-shaped, it is more than 5, the space that laser range finder occupies device is excessive, is on the one hand not easy to install another
Aspect also increases economic cost, therefore the quantity of laser range finder positions 3~5.
(5) mileage locating information acquisition component includes laser encoder and video camera, and laser encoder can be determined substantially
The walking mileage of device, while the tunnel picture shot by video camera, can identify tunnel circumferential weld, be accurately obtained and work as
For the ring number and device that preceding device is passed through apart from the distance between circumferential weld, longitudinal accumulative mistake is simultaneously eliminated in the initial position of determining device
Difference, so that positioning is more accurate.
(6) scanning information computational submodule, can be more accurate by carrying out ellipse fitting according to the scanning element of acquisition
The shape of current tunnel section is fitted, and realizes the comparison of current shape Yu history shape by deformation detection submodule, really
Shape Varied section, finally determines the tapered specific location of shape according to mileage location information record sub module, passes through matching for three
It closes, accurately obtains deformation position, detection accuracy is high.
(7) message processing module further includes data preparation submodule, is counted convenient for user to deformation position and to going through
The inquiry of history data, while when serious deformation occurs, message processing module can issue the user with warning, remind user couple in time
Deformation is handled.
(8) removable module is controlled by whereabouts component, enables staff convenient for stopping movement when finding serious deformation
It is checked, practical performance is strong.
(9) whereabouts component had both been equipped with hand-operated brake and also has been provided with position brake, hand-operated brake convenient for staff to device into
Row control, position brake is that the control signal when serious deformation occurs automatically according to message processing module brakes, and is avoided
The case where staff forgets to checking at serious deformation because of carelessness, security performance are high.
(10) vehicle frame is flexible vehicle frame, is readily transported and saves, and is stored when not used shortening vehicle frame, when in use basis
Demand extends vehicle frame, using flexible.
Detailed description of the invention
Fig. 1 is the overall structure diagram of apparatus of the present invention；
Fig. 2 is subway tunnel section detection system laser scanning schematic diagram；
Wherein, 1 is laser scanner, and 2 be message processing module, and 3 be handle, and 4 be laser range finder, and 5 be laser code
Device.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.The present embodiment is with technical solution of the present invention
Premised on implemented, the detailed implementation method and specific operation process are given, but protection scope of the present invention is not limited to
Following embodiments.
A kind of movable tunnel cross section deformation detection device is provided in the present embodiment, comprising: removable module is used for
Movement of the realization device in tunnel；Information acquisition module, when use, are installed on removable module, for acquiring tunnel cross-section
Shape information and removable module mileage location information；Message processing module 2, when use, are installed on removable module simultaneously
It is connect with information acquisition module, the result for being acquired according to information module judges tunnel cross-section, and whether deformation occurs and deformation
The position of generation.
Wherein, information acquisition module includes: tunnel-shaped acquisition component, is connect with message processing module 2, for by sweeping
Retouch the shape information in tunnel cross-section acquisition tunnel；Mileage locating information acquisition component, respectively with removable module and information processing
Module 2 connects, for the walking mileage of removable module to be uploaded in host computer.Tunnel-shaped acquisition component includes: laser
Scanner 1, for scanning-tunnelling section shape and obtain the tunnel-shaped scanning element of low accuracy；Laser range finder 4, is used for
The tunnel-shaped scanning element of pinpoint accuracy is obtained by laser ranging.The quantity of laser range finder 4 is 3~5.Mileage positioning letter
Ceasing acquisition component includes: laser encoder 5, is fixed on removable module, for by the mileage location information of removable module
Voltage pulse is converted into be uploaded in message processing module 2；Video camera, when use, are installed on removable module, for passing through
The tunnel picture of shooting is uploaded in host computer, realizes the error correction of the walking mileage to removable module.Information processing
Module 2 includes: scanning information computational submodule, the shape information in the tunnel for being acquired according to information acquisition module, to tunnel
The shape of section carries out ellipse fitting, obtains the SECTION EQUATION of tunnel cross-section；Deformation detection submodule, for according to scanning information
The SECTION EQUATION for the tunnel cross-section that computational submodule is calculated, is compared with historical data, is more than threshold by data change value
The tunnel cross-section of value is recorded as deformation section；Mileage location information record sub module, for what is acquired according to information acquisition module
The mileage location information of removable module calculates the walking mileage of removable module.Message processing module 2 further includes data preparation
Submodule is alarmed for recording deformation section and corresponding deformation position, and when serious deformation occurs to user.Removable dynamic model
Block includes: vehicle frame, for the support base as removable module；Movable pulley is installed on bottom of frame, for realizing vehicle frame
It is mobile；Whereabouts component, is fixed on vehicle frame, for controlling vehicle frame movement or stopping；Fixation kit is fixed on vehicle frame, is used for
Fix information acquisition module and message processing module 2 when in use.Whereabouts component includes: handle 3, be fixed on vehicle frame and with shifting
Driving wheel connection, for enabling vehicle frame mobile and controlling the direction of travel of vehicle frame；Hand-operated brake is fixed on vehicle frame and connects with movable pulley
It connects, stops movement for controlling vehicle frame according to the operation of user；Position brake, be fixed on vehicle frame and respectively with movable pulley and
Message processing module 2 connects, and stops movement for controlling vehicle frame according to the control signal of message processing module 2.
According to foregoing description, the specific movable tunnel cross section deformation detection device of design is as shown in Figure 1, from figure
As can be seen that the main structure of the device is a railcar that can be walked in orbit, it is suitable for 1435mm standard gauge
Away from rail on, memory assist steamboat can in -6~+15mm adjust automatically, guarantee vehicle be close to track.There is foot in railcar
Simultaneously rationally place three laser distance sensors, a laser scanner 1, a measuring wheel, a high-definition camera in enough spaces
Machine, a hand push handle, a laptop, a battery, these equipment at the scene can Fast Installation, railcar transporting
Defeated can shrink on the way reduces volume convenient transportation, restores again to erecting bed.
The measurement range of laser range finder 4: 0.1m to 100m, since sensor is configured with a red laser aiming point,
This makes it possible to easily find measured target.The measurement effect of sensor depends on the surface reflection of measured target object
Rate, form and material etc..Sensor is based on phase difference method measuring principle.The high frequency modulated illumination that sensor issues is mapped to tested mesh
Diffusing reflection is formed after mark, and certain offset will occur for the phase of reflected light.The phase of reflected light is compared with reference light source
Relatively it is assured that the distance between sensor and measured target.This measurement method can reach grade measurement accuracy.
Laser scanner 1 joined newest more using mature laser-time flight theory, non-contact detection
Secondary echo detecting technology (twice return), so that can precise measurement in the presence of a harsh environment.It is equipped with inside laser scanner 1
Inclinometer, the angle value for obtaining obtaining needed for system equipment installation.It is to sweep two 190 ° of laser when in general using
Retouch the tunnel overall profile figure that instrument 1 is spliced into 360 °.
The voltage pulse that laser encoder 5 is exported by sensor, calculates mileage travelled, to obtain detection position
Mileage can not be accurately positioned, in the process of moving since laser encoder 5 can only obtain the range data of vehicle to run
There is nearly 5 ‰ error, so graph processing technique is added, captured in real-time is carried out to tunnel-side using a video camera, simultaneously
In order to guarantee photographic quality, need to be equipped with headlamp.Software carries out circumferential weld identification to the photo taken, is accurately obtained current inspection
Spacing of the ring number and railcar that measuring car is passed through apart from circumferential weld determines detection vehicle initial position and eliminates longitudinal accumulation and miss
Difference.In combination with 5 data of laser encoder, it can accomplish the profile data for being accurately positioned each tunnel ring.Laptop
For controlling all the sensors, data acquisition, processing and display, selection can be continuous work 7 hours or more in the present embodiment
Laptop.
The working principle of the device is as follows:
, using the central axis of track as baseline, instrument is installed on vehicle frame for it, if being done using section in continuous scanning tunnel
Location information, determined from the angle and distance information measured target point relative to tunnel track central axes centers away from
From.It is calculated by the computer on vehicle frame, the location information for the section point for having laser range finder 4 to measure can be calculated as sitting
Scale value.This is because the location information that laser range finder 4 measures is the relative position information put in tunnel with laser range finder 4,
And laser range finder 4 and the relative position of detection vehicle are constant, and then putting in tunnel can relative to the relative position of tunnel track
It is obtained with conversion, coordinate value is finally calculated, to complete the quick detection to subway tunnel section.
The features such as this scanning mode has speed fast, and structure design is simpler, and scanning range is substantially unrestricted, and
Scanning accuracy is high, is easy to control.Section dynamic detection system uses laser scanner 1, is directly mounted at Tunnel testing vehicle
On, data measured can get cross dimensions after being fitted and be based on profileometry data in conjunction with vehicle speed measuring positioning system
The corresponding record of time and mileage realize the state to full section of tunnel by statistical analysis cross dimensions and its deformation tendency
Monitoring.
Subway tunnel section detection system laser scanning schematic diagram is as illustrated in fig. 2, it is assumed that 1 installation site of laser scanner is
The coordinate origin (0,0) of the measuring system, the tunnel contour coordinate measured are (xn, yn).Laser range finder 4 is in detection vehicle
Installation site coordinate be (a1, b1)；(a2, b2)；(a3, b3).The ranging of this Shu Jiguang as shown in the figure is L1；L2；L3, measurement
Angle is α；90°；β can calculate the coordinate (x1, y1) of detection corresponding points；(x2, y2)；(x3, y3) are as follows:
X1=-L cos α+a1
Y1=L sin α+b1
Three laser range finders 4 installed in the present embodiment all obtain the coordinate value of measuring point with above formula.Obtain coordinate
Pass through ellipse fitting algorithm, the SECTION EQUATION of available tunnel cross-section after value.Vertically and horizontally convergence prison is acquired by equation
The data of measuring point, then obtained data are compared with historical data, that is, can determine whether tunnel cross-section, whether deformation occurs.
The usage mode of the movable tunnel cross section deformation detection device is as follows known to based on the above principles: device is put
After upper underground railway track, information acquisition module in Fast Installation connects associated cable, and then booting computer, confirms the time of detection.
Device is travelled to section initial position to be detected, calibrates measurement position in fact using image processing techniques.Software control starting
Laser range finder 4, detection vehicle continuously drive to the non-position of detector segments, complete section profile scanning, detection data is being run over
Show in real time in journey and there are in computer data.
Claims (6)
1. a kind of movable tunnel cross section deformation detection device, which is characterized in that described device includes:
Removable module, for realizing movement of the device in tunnel；
Information acquisition module, when use, are installed on removable module, for acquiring the shape information of tunnel cross-section and removable
The mileage location information of module；
Message processing module, when use, are installed on removable module and connect with information acquisition module, for according to information mould
The result of block acquisition judges the tunnel cross-section position that whether deformation occurs and deformation occurs；
The information acquisition module includes:
Tunnel-shaped acquisition component, connect with message processing module, for acquiring the shape letter in tunnel by scanning-tunnelling section
Breath；
Mileage locating information acquisition component, connect with removable module and message processing module respectively, is used for removable module
Walking mileage be uploaded in host computer；
The tunnel-shaped acquisition component includes:
Laser scanner, for scanning-tunnelling section shape and obtain the tunnel-shaped scanning element of low accuracy；
Laser range finder, for obtaining the tunnel-shaped scanning element of pinpoint accuracy by laser ranging；
The quantity of the laser range finder is 3~5, and the laser range finder fixed setting is measured by laser range finder
The positional information calculation of section point obtains coordinate value, and the coordinate value is obtained the section of tunnel cross-section by ellipse fitting algorithm
Equation；
The mileage locating information acquisition component includes:
Laser encoder is fixed on removable module, for converting voltage arteries and veins for the mileage location information of removable module
It rushes to and reaches in message processing module；
Video camera, when use, are installed on removable module, for leading to by the way that the tunnel picture of shooting to be uploaded in host computer
It crosses and circumferential weld identification is carried out to the photo that takes, be accurately obtained ring number and railcar that current detection vehicle is passed through apart from circumferential weld
Spacing realizes the error correction of the walking mileage to removable module.
2. movable tunnel cross section deformation detection device according to claim 1, which is characterized in that the information processing
Module includes:
Scanning information computational submodule, the shape information in the tunnel for being acquired according to information acquisition module, to tunnel cross-section
Shape carries out ellipse fitting, obtains the SECTION EQUATION of tunnel cross-section；
Deformation detection submodule, the SECTION EQUATION of the tunnel cross-section for being calculated according to scanning information computational submodule, with
Historical data is compared, and the tunnel cross-section that data change value is more than threshold value is recorded as deformation section；
The mileage of mileage location information record sub module, the removable module for being acquired according to information acquisition module positions letter
Breath, calculates the walking mileage of removable module.
3. movable tunnel cross section deformation detection device according to claim 2, which is characterized in that the information processing
Module further includes data preparation submodule, for recording deformation section and corresponding deformation position, and when serious deformation occurs
It alarms to user.
4. movable tunnel cross section deformation detection device according to claim 1, which is characterized in that the removable dynamic model
Block includes:
Vehicle frame, for the support base as removable module；
Movable pulley is installed on bottom of frame, for realizing the movement of vehicle frame；
Whereabouts component, is fixed on vehicle frame, for controlling vehicle frame movement or stopping；
Fixation kit is fixed on vehicle frame, for fix information acquisition module and message processing module when in use.
5. movable tunnel cross section deformation detection device according to claim 4, which is characterized in that the whereabouts component
Include:
Handle is fixed on vehicle frame and connect with movable pulley, for enabling vehicle frame mobile and controlling the direction of travel of vehicle frame；
Hand-operated brake is fixed on vehicle frame and connect with movable pulley, stops movement for controlling vehicle frame according to the operation of user；
Position brake is fixed on vehicle frame and respectively with movable pulley and message processing module and connect, for according to information processing mould
The control signal control vehicle frame of block stops movement.
6. movable tunnel cross section deformation detection device according to claim 4, which is characterized in that the vehicle frame is to stretch
Contracting vehicle frame.
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| CN108180896B (en) * | 2017-12-01 | 2020-11-10 | 长安大学 | Unmanned tunnel detection device |
| CN108896014B (en) * | 2018-05-11 | 2021-02-02 | 同济大学 | Tunnel section measuring device and measuring method thereof |
| CN109029277A (en) * | 2018-06-27 | 2018-12-18 | 常州沃翌智能科技有限公司 | A kind of tunnel deformation monitoring system and method |
| CN108917638A (en) * | 2018-09-25 | 2018-11-30 | 浙江科技学院 | The mounted measuring apparatus for vehicle of subway tunnel 3 d deformation monitoring based on datum tool |
| CN109238162A (en) * | 2018-09-25 | 2019-01-18 | 浙江科技学院 | A kind of tunnel 3 d deformation monitoring and method for early warning |
| CN109341573A (en) * | 2018-09-30 | 2019-02-15 | 中国铁建重工集团有限公司 | A kind of tunnel-liner profile Clearance Detection |
| 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 |
| CN109736894B (en) * | 2018-11-27 | 2020-07-03 | 中国矿业大学 | Monitoring system, monitoring method and early warning method for coal mine roadway surrounding rock disasters |
| 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 | It is a kind of based on photogrammetric unmanned plane tunnel deformation detection method |
| CN110849325A (en) * | 2019-11-12 | 2020-02-28 | 栗新然 | Movable tunnel section deformation detection device |
| CN112781547B (en) * | 2020-12-31 | 2022-05-24 | 北京金日恒升科技有限公司 | Method for determining installation baseline of tunnel media system |
| CN113074694B (en) * | 2021-03-31 | 2022-11-04 | 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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| CN101943577B (en) * | 2010-08-16 | 2012-07-11 | 上海地铁盾构设备工程有限公司 | Metro tunnel fracture surface deformation detection system |
| CN202243875U (en) * | 2011-09-29 | 2012-05-30 | 李虎 | Multifunctional transformable folding bicycle |
| CN104792275B (en) * | 2015-04-09 | 2018-01-23 | 张建忠 | A kind of tunnel deformation detecting device and method |
| CN105411490B (en) * | 2015-10-26 | 2019-07-05 | 深圳市杉川机器人有限公司 | The real-time location method and mobile robot of mobile robot |
| CN205785191U (en) * | 2016-06-02 | 2016-12-07 | 昆山市交通工程试验检测中心有限公司 | A kind of tunnel cross section profile defects detection device |
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