CN107390291A - A kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system and method for work - Google Patents
A kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system and method for work Download PDFInfo
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- CN107390291A CN107390291A CN201710538702.9A CN201710538702A CN107390291A CN 107390291 A CN107390291 A CN 107390291A CN 201710538702 A CN201710538702 A CN 201710538702A CN 107390291 A CN107390291 A CN 107390291A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
- G01V11/00—Prospecting or detecting by methods combining techniques covered by two or more of main groups G01V1/00 - G01V9/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
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Abstract
The invention discloses a kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system and method for work, including vehicular platform, vehicular platform top both sides are provided with slide rail, multiple slide bars slid along are provided with slide rail, some plummers are provided with slide bar, monitoring device is provided with each plummer, to realize that the monitoring device of gathering project information carries out independent assortment according to the different of Tunnel Engineering task；Comprehensive analysis processing system is provided with vehicular platform, radio communication is realized with each and every one monitoring device, receives its monitoring information, and processing and dynamical feedback in real time are carried out to information.The present invention solves the problems, such as efficiency existing for existing tunnel monitoring context of detection low, time and effort consuming and delays working procedure, and the sign to dangerous block, search, monitoring propose set of solution method.
Description
Technical field
The present invention relates to a kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system and method for work.
Background technology
With national the Belt and Road strategy implementation, building for a large amount of basic means of transportation is extremely urgent, and underground engineering is
Wherein important part.The underground chambers such as tunnel are built with more disaster problem be present during operation.Constructing tunnel
During because the structural plane meet of tunnel surrounding combines to form these dangerous blocks under a large amount of effects such as dangerous block, construction disturbance
Body often occurs unstability and fallen, and causes workmen's injures and deaths and abuse；Tunnel operation is interim, works as liner structure
Thickness is not reaching to design requirement with compactness, and during the accident such as lining cutting generation percolating water, cracking, often causes lining cutting
A series of structural strength deficiency, so as to cause disaster accidents.For operation phase tunnel lining structure detection, traditional means are often adopted
With loading machine welded reinforcement frame, liner structure is detected using the mode of man-hour manually hand-held radar, time and effort consuming, efficiency is low
Under.
For the structural characterization in tunnel excavation face, existing way uses manually sets up total powerstation, photograph in front of tunnel heading
Machine, scanner, equally exist time-consuming inconvenience, delay the problem of working procedure.For the monitoring of dangerous sillar, there is no at present effectively
Monitoring means.
The content of the invention
The present invention is in order to solve the above problems, it is proposed that a kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system and work
Make method, the content that the present invention can monitor as needed independently increases car in monitoring modular, and is mounted with that information is comprehensive in the car
Close analysis process system, it is possible to achieve quick detection and monitoring in real time, and processing and dynamical feedback in real time are carried out to information.
To achieve these goals, the present invention adopts the following technical scheme that：
A kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system, including vehicular platform, the vehicular platform top two
Side is provided with slide rail, and multiple slide bars slid along are provided with the slide rail, some plummers, Mei Gecheng are provided with slide bar
Monitoring device is provided with microscope carrier, to realize that the monitoring device of gathering project information is carried out certainly according to the different of Tunnel Engineering task
By combining；
Comprehensive analysis processing system is provided with the vehicular platform, radio communication is realized with each and every one monitoring device, is received
Its monitoring information, and processing and dynamical feedback in real time are carried out to information.
The monitoring device includes but is not limited to three-dimensional laser scanner, laser doppler vialog, geological radar, whole station
Instrument and/or image acquisition device.
Further, the vehicular platform front end is provided with lighting apparatus.
Further, it is provided with ladder on the vehicular platform.To facilitate monitoring personnel to climb, the work in roof is carried out
Industry.
Further, it is provided with folding guardrail around the top of the vehicular platform.With the person of monitoring for protection personnel
Safety.
Further, turntable is provided with one in the plummer, scalable mechanical arm is provided with turntable,
The scalable mechanical arm is connected with geological radar, forms geologic radar detection mechanism.
Further, at least three plummers are provided with the slide bar of front end at the top of the vehicular platform, both ends are held
Microscope carrier is each provided with a turntable, and image acquisition device is provided with the turntable, and middle plummer is provided with three-dimensional laser
Scanner, form rock mass in tunnel, liner structure digital collection mechanism.
The turntable can realize that 360 degree rotate and elevation angle regulation.
Further, laser doppler vialog is provided with the plummer of the vehicular platform, to dangerous rock power
Parameter monitoring.
Method of work based on said system, characterize for tunnel excavation face rock mass numeric structure, worked in tunnel survey
When allow tunnel professional survey crew every separate explosion slag tap get rid of the danger after on face lay three non-colinear control points, slapped
The geodetic coordinates measurement of sub- face control point；Face designated area is shot from two diverse locations using image acquisition device,
Formation is relative with the different visual angle figure of target, according to binocular camera shooting principle, the three-dimensional conversion of figure relative coordinate is carried out, so as to build area
The 3 d surface model of face designated area, while face designated area is taken multiple scan using laser scanner is tieed up, obtain
The cloud data in the region is taken, cloud data is matched with the digital picture obtained, generation face fusion threedimensional model；
According to three control point coordinates of the face measured in advance, area surface model three-dimensional geodetic coordinates is resolved.
Do not excavate part rock mass structure for tunnel to characterize, face rock mass is pressed close to using radar and swept along survey line is laid
Retouch, realize that large-scale geological interface is detected inside rock mass.
Searched for for tunnel excavation face danger sillar, extraction binocular camera shooting merges three-dimensional with the face that laser scanning obtains
The structural surface information of model, and with geological radar detect large-scale geological interface inside the rock mass of acquisition and is combined structure tunnel and intend excavation
The joint network simulation of rock mass, the distribution of potential danger sillar is obtained using structural plane meet combinatory analysis.
For tunnel excavation face danger sillar monitor, be monitored using laser doppler vialog, laser spots adjust to
Intend monitor hazardous sillar surface, the real-time measurement of sillar eigentone is realized according to laser reflection spectral change, according to rock
The change of block eigentone calculates displacement and the acceleration change of sillar, reaches the purpose that sillar unstability monitors in real time.
Just propped up for tunnel, the thickness and compactness inspection of two lining structures, according to the survey line of laying, regulation radar detection position
Put, radar is pressed close into just branch or lining cutting is scanned along survey line is laid, according to the data of collection to just branch, lining thickness and close
Solidity is analyzed, and completes configuration state detection.
Compared with prior art, beneficial effects of the present invention are：
(1) present invention solves low efficiency existing for existing tunnel monitoring context of detection, time and effort consuming and delayed and applies
The problem of work process, and the sign to dangerous block, search, monitoring propose set of solution method；
(2) present invention carries the thought of monitoring modular using car body, realizes vehicle-mounted monitoring, the multifunction of detection；
(3) in-car of the invention is mounted with information comprehensive analysis processing system, ensure that the real-time processing of Monitoring Data is anti-
Feedback；
(4) characterized the invention provides tunnel tunnel face front rock mass structure, dangerous block is searched for, the complete solution of monitoring
Method, and the new working procedure of a step is introduced, greatly improve operating efficiency；
(5) present invention is only needed simple adjustment angle and quantity and installed additional on car body using camera and laser scanner
Inertia measuring module, you can realize the detection of liner structure state；
(6) present invention realizes that geological interface is visited inside rock mass using telescopic arm and cushion cap control geologic radar detection position
Survey the dual-use function with liner structure thickness and compactness inspection；
(7) lining is directed to, radar scanning can be completed in vehicle travel process, solves the progress of man-hour manually hand-held radar
Just the characteristics of branch, the difficult and time consuming property of secondary lining detection, detection efficiency is greatly improved.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the improper restriction to the application.
Fig. 1 (a), Fig. 1 (b) are the front view and rearview of overall onboard system；
Fig. 2 is not hold up folding guard rail onboard system overall schematic；
Fig. 3 is the onboard system overall schematic for holding up folding guard rail；
Fig. 4 is that mechanical arm can adjust schematic diagram；
Fig. 5 is in-vehicle information comprehensive analysis processing system schematic；
Fig. 6 is the schematic diagram that rock mass structure and lining cutting state representation use instrument；
Fig. 7 is that cushion cap controls cushion cap schematic diagram with mechanical arm；
Fig. 8 is cushion cap module and slide rail, sliding block, slide bar schematic diagram；
Fig. 9 is binocular camera shooting principle schematic；
Wherein, 1, vehicular platform 2, three-dimensional laser scanner 3, camera 4, laser doppler vialog 5, geological radar 6,
9, No. 3 cushion caps 10 of the cushion cap of cushion cap 8,2 of assist illuminator 7,1, ladder 11, the cushion cap of cushion cap 13,5 of folding guardrail 12,4
14th, 15, No. 2 telescopic arms 16, information comprehensive analysis processing system 17, slide rail 18, sliding block 19, slide bars of No. 1 telescopic arm.
Embodiment：
The invention will be further described with embodiment below in conjunction with the accompanying drawings.
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, exist in the prior art without the easily and efficiently deficiency of monitoring system and method,
In order to solve technical problem as above, vehicle-mounted prison is integrated based on modularization and information-based Tunnel Engineering present applicant proposes a kind of
Control system.
In a kind of typical embodiment of the application, as shown in Fig. 1 (a), Fig. 1 (b), mainly include：(1) module is carried
Vehicle platform：Reequiped by conventional truck, as multiple information acquisition modules and the carrying platform of analysis process system；(2)
Vehicle-mounted rock mass in tunnel, liner structure numeralization collecting device：Focused including two, wide-angle digital camera is swept with a three-dimensional laser
Instrument is retouched, on car body top cushion cap, tunnel excavation face rock mass structure or tunnel lining structure information are acquired, is realized
Camera shoots the matching of photo and Point Cloud of Laser Scanner；(3) geologic radar detection device：Thunder is controlled using two groups of telescopic arms
Reach, on the one hand do not excavate large-scale geological interface inside rock mass to tunnel using geological radar and detect, with described rock mass table
The rock mass surface information that face architecture digital harvester obtains is combined, and realizes that tunnel does not excavate the comprehensive spy of part rock mass
Look into；On the other hand using radar, to tunnel, just branch, the thickness of two lining structures and compactness detect, and effectively realize tunnel structure
Security diagnostics；(4) dangerous rock power parameter monitoring device：Laser doppler vialog is carried on roof cushion cap, to danger
The kinetic parameters such as the eigentone of sillar realize monitoring；(5) information comprehensive analysis processing system：In car body
Portion, for receiving the data of each information acquisition module transmission, and carry out real time fusion analysis；(6) other auxiliary devices：Such as figure
2nd, shown in Fig. 3, including all types of cushion caps of assist illuminator, roof, ladder, guardrail, slide rail, sliding block, slide bar etc., lift overall car
The operability of loading system.
Module equipped vehicle platform is reequiped using traditional vehicle, roof flattens and installs slide rail additional, sliding block, slide bar with
And multiple functionalization cushion caps, realize the carrying of each information acquisition module；Vehicle interior is reequiped, and is at information comprehensive analysis
Reason system reserves mounting space；Install electric power system additional, power transmission is provided for each acquisition module；Roof and interior it
Between reserve transmission hole for transmission line, so as to realize the connection of roof instrument and in-car processing platform and data transfer；Roof
Both sides install folding guardrail additional, and personnel can erect guardrail so as to ensure safety when roof installs measuring instrument.
Characterized for tunnel excavation face rock mass numeric structure, worked in tunnel survey and introduce one of new working procedure, it is first
First allow tunnel professional survey crew to slag tap in every separate explosion to get rid of the danger after laying three non-colinear control points on face, with tunnel
Based on measurement of the level control net, the geodetic coordinates measurement of face control point is carried out using total powerstation.
For tunnel excavation face rock mass numeric structure characterize, focused from two, wide-angle digital camera carry to roof from
Two diverse locations are shot to face designated area, and it is relative to form the different visual angle figure of same target, according to binocular camera shooting principle,
The three-dimensional conversion of figure relative coordinate is carried out, so as to build the 3 d surface model of face designated area；Cushion cap is connected with camera
Disk can realize 360 degree rotate and the elevation angle regulation, multi-faceted shooting demand can be met；Consider dim environment in tunnel,
Install two high brightness iodine-tungsten lamps additional in front of roof, so as to improve face brightness, meet digital image collection condition.
Characterize for tunnel excavation face rock mass numeric structure, carried from a three-dimensional laser scanner to roof cushion cap,
Face designated area is taken multiple scan, obtains the cloud data in the region.
Characterized for tunnel excavation face rock mass numeric structure, the face image information that binocular camera shooting obtains is swept with laser
The cloud data for retouching acquisition is transmitted to in-vehicle information total system, and cloud number will be put using the PaintShop of system prepackage
Matched according to the digital picture with acquisition, generation face fusion threedimensional model；According to three controls of the face measured in advance
Point coordinates processed, resolve area surface model three-dimensional geodetic coordinates.
As shown in Fig. 4, Fig. 7, radar and two groups of telescopic arms are bolted by prepared screw-bolt hole, telescopic arm and roof cushion cap phase
Even, the disk that cushion cap is connected with telescopic arm can carry out 360 degree of rotations, can be real by adjusting flexible arm lengths and cushion cap disk
The adjustment of existing radar detection position；Do not excavate part rock mass structure for tunnel to characterize, face rock mass edge is pressed close to using radar
Lay survey line to be scanned, realize that large-scale geological interface is detected inside rock mass.
As shown in figure 5, being searched for for tunnel excavation face danger sillar, binocular is extracted in informix processing system in the car
The structural surface information that the face obtained with laser scanning merges threedimensional model is imaged, and the rock mass of acquisition is detected with geological radar
Internal large-scale geological interface combines the joint network simulation that rock mass is intended excavating in structure tunnel；
Searched for for tunnel excavation face danger sillar, intend excavating the joint network simulation of rock mass according to tunnel, utilize structural plane
Meet combinatory analysis obtains the distribution of potential danger sillar.
Monitored for tunnel excavation face danger sillar, sillar kinetic parameter variation monitoring is carried out, by tunnel environment exciting
Influence, sillar can be in weak vibration state all the time, and kinetic parameter can gradually change in During Instability of Rock Body, can be used as danger
The important parameter of sillar monitoring；Carried using laser doppler vialog to roof cushion cap, laser spots are adjusted to plan monitor hazardous
Sillar surface, the real-time measurement of sillar eigentone is realized according to laser reflection spectral change；At laser vibration measurer data
Reason output module is incorporated into in-vehicle information integrated treatment platform, and sillar is calculated according to the change of sillar eigentone
Displacement and acceleration change, reach the purpose that sillar unstability monitors in real time.
For operation phase tunnel lining structure cracking and percolating water detection, with described tunnel excavation face rock mass numeric structure
It is similar to characterize principle, adjusts cushion cap and camera quantity and shooting angle so that each cameras line superposition can be covered and needed
The lining cutting scope to be detected；Install inertial measuring unit additional in the car, realize in detection car tunnel and run over lining cutting exterior view in journey
As the acquisition with cloud data；Lining cutting surface state is carried out using software after data transfer to in-vehicle information overall analysis system
Analysis.
Just propped up for tunnel, the thickness and compactness inspection of two lining structures, with large-scale geology circle inside the rock mass in tunnel
Face detection principle is similar, and according to the survey line of laying, cushion cap disk is stretched in two groups of regulation and contracting arm lengths realize radar detection position
Adjustment, radar is pressed close into just branch or lining cutting and is scanned along survey line is laid；Radar measured data is transmitted to in-vehicle information General Office
Reason system, handle software using radar and just branch, lining thickness and compactness are analyzed.
Overall onboard system can realize tunnel excavation face rock mass numeric structure sign and the search of dangerous sillar, tunnel excavation
The monitoring of face danger sillar, operation phase tunnel-liner cracking and percolating water detect, tunnel just props up and two lining structure thickness and compactness
The functions such as detection；Based on modularization and information-based thought, the function to realize the monitoring of other tunnels, detecting can add in car body
The information gathering instrument of the corresponding function module is filled, in-vehicle information comprehensive analysis processing system reserves multiple module interfaces, can be with
The real-time analyzing and processing of information acquired in each information acquisition module is effectively ensured.
Characterized for tunnel excavation face rock mass numeric structure and dangerous sillar is searched for：
(1) tunnel survey personnel lay 3 control points on the face after explosion is slagged tap and got rid of the danger in advance, and provide corresponding
Coordinate；
(2) detection car 1 is opened to tunnel tunnel face front, opens assist illuminator 6, adjust brightness, two cameras 3 are complete
Shot into face, three-dimensional laser scanner 2 completes face and arranges scanning；
(3) survey line, regulation telescopic arm 14,15 length and No. 5 disc angles of cushion cap 13, by radar 5 are laid on face
Press close to face rock mass to be scanned face along survey line；
(4) detection car 1 is sailed out of into face to stop to safety area and ensure that the roof instrument visual field is not blocked, by face
Shooting image, Point Cloud of Laser Scanner and radar scanning data transfer are sharp to in-vehicle information comprehensive analysis processing platform 16
Cloud data is matched with the digital picture obtained with the PaintShop that system is pre-installed, generation face fusion is three-dimensional
Model, and face rock mass discontinuity information is extracted, large-scale geological interface constructs plan and opened inside the rock mass obtained with radar
Dig the joint network simulation of rock mass；
(5) potential danger sillar is searched out according to the meet syntagmatic of structural plane.
Monitored for tunnel excavation face danger sillar：
(1) according to the crag sillar position searched out, vehicle-mounted laser doppler vialog 4 is opened, laser beam is adjusted
The crag sillar surface monitored to needs；
(2) real-time eigentone parameter of the sillar under tunnel environment exciting is transmitted to in-vehicle information comprehensive analysis
Platform 16, using parameters such as speed, displacement and the acceleration for resolving software and calculating sillar, analyze the comprehensive change of rock mass parameters
Change trend, and then analyze the stability of sillar and do corresponding early warning.
Detected for operation phase tunnel-liner cracking and percolating water：
(1) install inertial measuring unit additional in overall onboard system, realize and taken pictures in vehicle movement and laser scanning function；
(2) shooting angle of cushion cap, the quantity of camera 3 and camera is adjusted, makes cameras line to be covered after being superimposed
The lining section scope of required detection, vehicle traveling simultaneously taken pictures by camera, and three-dimensional laser scanner 2 is completed lining cutting surface and swept
Retouch；
(3) cloud data that lining cutting surface image obtains with laser scanning is transmitted to in-vehicle information comprehensive analysis processing and put down
Platform 16, both are matched, and realize the analysis of Lining cracks and seepage water state.
Just propped up and two lining structure thickness and compactness inspection for tunnel：
(1) detection content lays corresponding radar scanning survey line needed for；
(2) 14,15 and No. 5 disc angles of cushion cap 13 of flexible arm lengths are adjusted, the position of radar 5 is adjusted, radar 5 is pasted
The first branch of detection or two lining structure surfaces needed near, vehicle are scanned in travelling along survey line；
(3) by the data transfer that radar 5 scans to in-vehicle information integrated treatment platform 16, carried out using radar interpretation software
Interpretation, structural thickness and compactness parameter are obtained, complete configuration state detection.
The preferred embodiment of the application is the foregoing is only, is not limited to the application, for the skill of this area
For art personnel, the application can have various modifications and variations.It is all within spirit herein and principle, made any repair
Change, equivalent substitution, improvement etc., should be included within the protection domain of the application.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. a kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system, it is characterized in that：Including vehicular platform, the vehicular platform
Top both sides are provided with slide rail, and multiple slide bars slid along are provided with the slide rail, some plummers are provided with slide bar,
Monitoring device is provided with each plummer, to realize difference of the monitoring device of gathering project information according to Tunnel Engineering task
Carry out independent assortment；
Comprehensive analysis processing system is provided with the vehicular platform, radio communication is realized with each and every one monitoring device, receives its prison
Measurement information, and processing and dynamical feedback in real time are carried out to information.
2. a kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system as claimed in claim 1, it is characterized in that：The monitoring
Equipment includes but is not limited to three-dimensional laser scanner, laser doppler vialog, geological radar, total powerstation and/or IMAQ
Device.
3. a kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system as claimed in claim 1, it is characterized in that：It is described vehicle-mounted
Platform front end is provided with lighting apparatus；Or, it is provided with ladder on the vehicular platform；Or, around the top of the vehicular platform
It is provided with folding guardrail.
4. a kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system as claimed in claim 1, it is characterized in that：The carrying
Turntable is provided with one in platform, scalable mechanical arm is provided with turntable, the scalable mechanical arm is connected with ground
Matter radar, form geologic radar detection mechanism.
5. a kind of modular Tunnel Engineering synthesis vehicle-mounted monitoring system as claimed in claim 1, it is characterized in that：It is described vehicle-mounted
At least three plummers are provided with the slide bar of table top front end, the plummer at both ends is each provided with a turntable, described
Image acquisition device is provided with turntable, middle plummer is provided with three-dimensional laser scanner, forms rock mass in tunnel, lining cutting knot
Structure digital collection mechanism.
6. based on the method for work of the system as any one of claim 1-5, it is characterized in that：For tunnel excavation face rock
Body numeric structure characterizes, and allows tunnel professional survey crew to be slagged tap in every separate explosion when tunnel survey works and gets rid of the danger after face
Three non-colinear control points of upper laying, carry out the geodetic coordinates measurement of face control point；Using image acquisition device from two differences
Position is shot to face designated area, and it is relative to form the different visual angle figure of same target, according to binocular camera shooting principle, carries out figure phase
The three-dimensional of coordinate is changed, so as to build the 3 d surface model of face designated area, while utilizes and ties up laser scanner pair
Face designated area is taken multiple scan, and obtains the cloud data in the region, and cloud data is entered with the digital picture obtained
Row matching, generation face fusion threedimensional model；According to three control point coordinates of the face measured in advance, area face mould is resolved
Type three-dimensional geodetic coordinates.
7. based on the method for work of the system as any one of claim 1-5, it is characterized in that：Portion is not excavated for tunnel
Rock mass structure is divided to characterize, press close to face rock mass using radar is scanned along survey line is laid, and realizes large-scale geology inside rock mass
Detect at interface.
8. based on the method for work of the system as any one of claim 1-5, it is characterized in that：Endangered for tunnel excavation face
The search of dangerous sillar, extraction binocular camera shooting merge the structural surface information of threedimensional model with the face that laser scanning obtains, and with ground
Matter radar detects large-scale geological interface inside the rock mass of acquisition and combines the joint network simulation that rock mass is intended excavating in structure tunnel, utilizes knot
The meet combinatory analysis of structure face obtains the distribution of potential danger sillar.
9. based on the method for work of the system as any one of claim 1-5, it is characterized in that：Endangered for tunnel excavation face
Dangerous sillar monitoring, is monitored using laser doppler vialog, and laser spots are adjusted to monitor hazardous sillar surface is intended, according to sharp
Light reflecting spectrum changes the real-time measurement for realizing sillar eigentone, is calculated according to the change of sillar eigentone
The displacement of sillar and acceleration change, reach the purpose that sillar unstability monitors in real time.
10. based on the method for work of the system as any one of claim 1-5, it is characterized in that：Branch, two at the beginning of tunnel
The thickness and compactness inspection of lining structure, according to the survey line of laying, regulation radar detection position, radar is pressed close into just branch or lining cutting
It is scanned along survey line is laid, just branch, lining thickness and compactness is analyzed according to the data of collection, complete structure shape
State detects.
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| CN111457962A (en) * | 2020-05-09 | 2020-07-28 | 同济大学 | Rapid detection method and detection device for tunnel internal diseases |
| CN111457962B (en) * | 2020-05-09 | 2021-09-21 | 同济大学 | Rapid detection method for tunnel internal diseases |
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| CN112720532A (en) * | 2021-01-12 | 2021-04-30 | 中国煤炭科工集团太原研究院有限公司 | Machine crowd is strutted to stable intelligent monitoring of country rock and precision |
| CN112720532B (en) * | 2021-01-12 | 2022-06-28 | 中国煤炭科工集团太原研究院有限公司 | Machine crowd is strutted to stable intelligent monitoring of country rock and precision |
| 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 |
| CN114047051A (en) * | 2021-09-18 | 2022-02-15 | 山东大学 | Intelligent surrounding rock grading robot system and method |
| CN114047051B (en) * | 2021-09-18 | 2022-08-12 | 山东大学 | Intelligent surrounding rock grading robot system and method |
| CN117294943A (en) * | 2023-09-11 | 2023-12-26 | 安徽理工大学 | Rail type inspection device and method for delayed rock burst of deep tunnel |
| CN117294943B (en) * | 2023-09-11 | 2024-04-19 | 安徽理工大学 | Rail type inspection device for delayed rock burst of deep tunnel |
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