CN109323682A - A kind of method and apparatus of real-time automatic measuring tunnel cross-section deformation - Google Patents
A kind of method and apparatus of real-time automatic measuring tunnel cross-section deformation Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
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Abstract
The present invention provides a kind of device of real-time automatic measuring tunnel cross-section deformation, including host computer, it is multiple to pass through the concatenated Sensor Measurement Unit of flexible joint, the Sensor Measurement Unit is fixed on tunnel inner wall, first microprocessor is equipped in each Sensor Measurement Unit, and the acceleration transducer acquisition module being connect with first microprocessor, first communication module, the first communication module of each Sensor Measurement Unit is sequentially connected in series communication connection, first Sensor Measurement Unit further includes the second microprocessor connecting with first microprocessor, the second communication module being connect with the second microprocessor.The present invention also provides a kind of methods of real-time automatic measuring tunnel cross-section deformation.The each Sensor Measurement Unit of the present invention independently calculates the inclination angle value of each unit itself, and independent communication improves reliability；Itself inclination angle value method is actively reported and submitted using each node timesharing, improves communications usage；Three-dimensional coordinate is calculated by host computer, achievees the effect that 3-D view.
Description
Technical Field
The invention relates to the technical field of deformation monitoring, in particular to a method and a device for automatically measuring the deformation of a tunnel section in real time.
Background
At present, in the aspect of tunnel engineering deformation monitoring, monitoring points are mainly distributed in a deformation area of a tunnel, convergence meters, total stations, levels, three-dimensional laser scanners and other instruments are used for point-by-point and section-by-section measurement, the manual measurement process is complicated, long-time theoretical analysis and field engineering exploration are needed during monitoring, the efficiency is low, a large amount of manpower and material resources are consumed, and automatic measurement cannot be achieved.
Some devices for automatically measuring the deformation of the tunnel section are also available on the market, for example, a device consisting of a plurality of measuring rod pieces and a fixed seat is adopted, each measuring rod piece is provided with an inclination angle sensor, the length of each measuring rod piece changes along with the deformation of the tunnel section, a displacement sensor is arranged on each measuring rod piece, the length change of each measuring rod piece is measured through the displacement sensor, a fitting curve of the tunnel section is obtained according to the lengths of the inclination angle sensing unit and the measuring rod pieces, and the deformation of the tunnel section is monitored. Each section of measuring rod piece of the device needs two sensors for cooperative measurement, so that the variation is easy to exist, each measuring rod piece is an independent device, each rod piece needs to be connected during installation, and the installation is complicated. The device calculates the inclination angle value in a two-dimensional plane, and can reflect the deformation of the section of the tunnel, but the calculation method requires that the whole device is installed in a plane vertical to the tunnel during installation, and the actual installation process is easy to generate deviation.
Disclosure of Invention
The invention aims to provide a method and a device for automatically measuring tunnel section deformation, wherein the device is provided with a plurality of sensor measuring units with unit length, two adjacent sensor measuring units are connected by using flexible joints, the whole sensor device is connected in series in a chain-type posture, each sensor measuring unit transmits a measured and calculated three-dimensional space angle value to an upper computer, and the upper computer calculates the three-dimensional inclination posture of the whole measuring system so as to realize automatic measurement of tunnel section deformation.
A device for automatically measuring tunnel section deformation in real time comprises an upper computer and a plurality of sensor measuring units which are connected in series through flexible joints, wherein the sensor measuring units are fixed on the inner wall of a tunnel, a first microprocessor, an acceleration sensor acquisition module and a first communication module are arranged in each sensor measuring unit, the acceleration sensor acquisition module and the first communication module are connected with the first microprocessor, the first communication modules of the sensor measuring units are sequentially connected in series for communication, and the first sensor measuring unit further comprises a second microprocessor connected with the first microprocessor and a second communication module connected with the second microprocessor;
the acceleration sensor acquisition module is used for acquiring the output acceleration of the acceleration sensor acquisition module on three axes of XYZ;
the first microprocessor is used for calculating included angles between the three XYZ axes of the acceleration sensor acquisition module and the gravity vector according to output accelerations of the acceleration sensor acquisition module on the three XYZ axes;
the second microprocessor is in communication connection with the upper computer through a second communication module and transmits included angles between the three XYZ axes of the acceleration sensor acquisition module and the gravity vector calculated by each sensor measurement unit to the upper computer in a time-sharing manner;
and the upper computer is used for calculating the coordinates of the tail end points of the sensor measuring units according to the angle values reported by the sensor measuring units so as to obtain the three-dimensional graph of the whole device and the projection of the three-dimensional graph in the plane of the section of the tunnel.
Further, the acceleration sensor acquisition module is an accelerometer.
Further, the second communication module communicates with the upper computer in a mode of optical fiber network or GPRS.
Further, the output accelerations of the acquisition module of the acceleration sensor on the three axes of XYZ are A respectivelyXOUT、AYOUT、AZOUTThe first microprocessor calculates included angles theta, psi, phi between three axes of the acquisition module of the acceleration sensor and the gravity vector according to the three accelerations,Wherein, theta represents an included angle between an X axis of the acceleration sensor acquisition module and a gravity vector, psi represents an included angle between a Y axis of the acceleration sensor acquisition module and the gravity vector,the included angle between the Z axis of the acceleration sensor acquisition module and the gravity vector is represented, and the calculation formula is as follows:
further, the host computer calculates the coordinates of the terminal points of each sensor measuring unit according to the angle values reported by each sensor measuring unit as follows:
and calculating the coordinates of the tail end point of the first sensor measuring unit by taking the start end of the first sensor measuring unit as a calculation origin:
(x1,y1,z1)＝L1×(cosθ1，cosψ1，cosΦ1),
wherein ,
LCmeasuring the fixed length, L, of the unit for each sensorRA fixed length for a flexible joint;
the coordinates of the end point of the second sensor measuring unit are:
(x2,y2,z2)＝((x1+L2×cosθ2)，(y1+L2×cosψ2)，(z1+L2×cosΦ2))
wherein ,L2＝LC+LR，
The coordinates of the end point of the ith sensor measuring unit are as follows:
(xi,yi,zi)＝((xi-1+Li×cosθi)，(yi-1+Li×cosψi)，(zi-1+Li×cosΦi))
wherein ,Li＝LC+LR
The coordinates of the end point of the last sensor measuring unit are:
(xM,yM,zM)＝((xM-1+LM×cosθM)，(yM-1+LM×cosψM)，(zM-1+LM×cosΦM))
wherein ,
thus, the three-dimensional coordinates of the entire apparatus can be calculated.
A method for automatically measuring the deformation of a tunnel section in real time is carried out by adopting the device, and comprises the following steps:
firstly, a plurality of sensor measuring units are connected in series by using flexible joints and then suspended on the inner wall of a tunnel, first communication modules of the sensor measuring units are sequentially connected in series through RS485 communication cables, and second communication modules of the first sensor measuring units are in communication connection with an upper computer;
step two, the second microprocessor of the first sensor measuring unit sends a control instruction to each first microprocessor, and the first microprocessor controls the acceleration sensor acquisition module connected with the first microprocessor to measure the acceleration A of the acceleration sensor acquisition module on the three XYZ axesXOUT、AYOUT、AZOUTThe first microprocessor calculates included angles theta, psi, phi between three axes of the acquisition module of the acceleration sensor and the gravity vector according to the three accelerations,
Step three, addressing each sensor measuring unit in advance according to a sequence, and outputting included angles between three axes of an acceleration sensor acquisition module of the sensor measuring unit and a gravity vector to an upper computer in a time-sharing mode in an RS485 mode according to the number of the sensor measuring unit;
and fourthly, the upper computer calculates the coordinates of the tail end points of the sensor measuring units according to the angle values reported by the sensor measuring units, and then the three-dimensional graph of the whole device and the projection of the three-dimensional graph in the plane of the section of the tunnel are obtained.
And further, after the device is installed, the coordinate value reported for the first time is used as an initial value of the whole device, the data reported subsequently is used as real-time monitoring data, the changes of the three-dimensional graph of the device and the projection in the plane of the cross section of the tunnel can be monitored in real time, and the deformation condition of the cross section of the tunnel is monitored.
Furthermore, the first microprocessor calculates included angles theta, psi, phi between three axes of the acquisition module of the acceleration sensor and the gravity vector according to the three accelerations,Wherein theta represents an included angle between an X axis of the acceleration sensor acquisition module and a gravity vector, psi represents an included angle between a Y axis of the acceleration sensor acquisition module and the gravity vector,the included angle between the Z axis of the acceleration sensor acquisition module and the gravity vector is represented, and the calculation formula is as follows:
further, the host computer calculates the coordinates of the terminal points of each sensor measuring unit according to the angle values reported by each sensor measuring unit as follows:
and calculating the coordinates of the tail end point of the first sensor measuring unit by taking the start end of the first sensor measuring unit as a calculation origin:
(x1,y1,z1)＝L1×(cosθ1，cosψ1，cosΦ1),
wherein ,
LCmeasuring the fixed length, L, of the unit for each sensorRA fixed length for a flexible joint;
the coordinates of the end point of the second sensor measuring unit are:
(x2,y2,z2)＝((x1+L2×cosθ2)，(y1+L2×cosψ2)，(z1+L2×cosΦ2))
wherein ,L2＝LC+LR，
The coordinates of the end point of the ith sensor measuring unit are as follows:
(xi,yi,zi)＝((xi-1+Li×cosθi)，(yi-1+Li×cosψi)，(zi-1+Li×cosΦi))
wherein ,Li＝LC+LR
The coordinates of the end point of the last sensor measuring unit are:
(xM,yM,zM)＝((xM-1+LM×cosθM)，(yM-1+LM×cosψM)，(zM-1+LM×cosΦM))
wherein ,
thus, the three-dimensional coordinates of the entire apparatus are calculated.
Further, the second communication module communicates with the upper computer in a mode of optical fiber network or GPRS.
According to the invention, the installation mode of the flexible joint is introduced, and when the whole device is installed at the top of the tunnel dam, the radian of the tunnel can be more effectively attached, and the deformation monitoring effect is more visual; each sensor measuring unit uses a microprocessor to independently calculate the self inclination angle value (theta) of each uniti，ψi，Φi) The communication is independent, and the reliability is improved; connecting each sensor measuring unit in an RS485 communication mode through an RS485 bus, addressing in sequence when each sensor measuring unit is initialized, and adopting each node (single sensor measuring unit) to receive a reporting instruction and then according to the number of the own equipmentThe method of actively reporting the self inclination angle value in a time-sharing manner improves the communication utilization rate; and calculating the three-dimensional coordinates through the upper computer to achieve the effect of three-dimensional view.
Drawings
FIG. 1 is a schematic diagram of the connection between a sensor measuring unit and a flexible joint in the device for real-time automatic measurement of tunnel section deformation according to the present invention;
FIG. 2 is a schematic view of two adjacent sensor measurement units connected by a flexible joint;
FIG. 3 is a schematic diagram of the operation of the device for automatically measuring the deformation of the cross section of the tunnel in real time according to the present invention;
FIG. 4 is a schematic block diagram of the circuit of the device for automatically measuring the deformation of the tunnel section in real time according to the present invention;
FIG. 5 is a schematic diagram of the data transfer of the sensor measurement unit of the present invention;
FIG. 6 is a schematic view of the three-axis angle calculation for each sensor measurement unit;
FIG. 7 is a schematic length-fit of the apparatus of the present invention.
In the figure: the system comprises a sensor measuring unit 1, a flexible joint 2, an upper computer 3, a tunnel inner wall 4, a first microprocessor 11, an acceleration sensor acquisition module 12, a first communication module 13, a temperature module 14, a second microprocessor 15 and a second communication module 16.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings.
Referring to fig. 1-3, an embodiment of the present invention provides an apparatus for automatically measuring a tunnel section deformation in real time, including a plurality of sensor measuring units 1 connected in series through flexible joints 2, where the sensor measuring units 1 are fixed on a tunnel inner wall 4. During specific implementation, the whole device is installed and fixed by a suspension method, each sensor measuring unit 1 is placed in a protective pipe with higher rigidity and is fixed on the inner wall 4 of the tunnel through a suspension hoop, and the device is stable and reliable. When the tunnel is converged or sunk and deformed, each sensor measuring unit 1 is inclined, and the angle change of each sensor measuring unit 1 can be collected and calculated.
As shown in fig. 4, each sensor measurement unit 1 is provided with a first microprocessor 11, an acceleration sensor acquisition module 12 (e.g., an accelerometer) connected to the first microprocessor 11, a first communication module 13, and a temperature module 14,.
The acceleration sensor acquisition module 12 is configured to acquire output accelerations of the acceleration sensor acquisition module 12 in three XYZ axes;
the temperature module 14 is used for acquiring the real-time temperature inside each sensor unit;
the first microprocessor 11 is configured to calculate an included angle between the three XYZ axes of the acceleration sensor acquisition module 12 and a gravity vector (1g field) according to the output acceleration of the acceleration sensor acquisition module 12 on the three XYZ axes;
the first communication module 13 converts data and control signals communicated with the first microprocessor 11 into differential level signals of RS485, and the first communication modules 13 of the sensor measurement units 1 are connected in series through RS485 communication cables.
The first sensor measuring unit is a master controller of the whole device, and comprises a second microprocessor 15 connected with the first microprocessor 11 and a second communication module 16 connected with the second microprocessor 15 besides the modules.
The second microprocessor 15 is in communication connection with the upper computer 3 through the second communication module 16, and on one hand, the second microprocessor sends a communication instruction to the second communication module 16, so that the device communicates with the upper computer 3 through an optical fiber network or a GPRS mode, on the other hand, the second microprocessor sends a communication instruction to the first communication module 13, other sensor measurement units are controlled by using an RS485 communication mode, and meanwhile, the first microprocessor 11 is controlled to control the sensor measurement of the second microprocessor.
The inside RS485 communication mode that uses of whole device is connected every sensor measuring unit 1 through the mode of RS485 bus, and the device passes through optic fibre or GPRS's communication mode with the software platform.
Except the first sensor measuring unit, the other sensor measuring units have the same function, and acquire, calculate and report the included angles between the three XYZ axes of the acceleration sensor acquisition module 12 and the gravity vector (1g field) on time according to the communication instruction.
As shown in fig. 5, when each sensor measurement unit 1 is initialized, addressing is performed in sequence, each sensor measurement unit 1 is regarded as a node, and after each node (single sensor measurement unit) receives a reporting instruction, a time-sharing active reporting method is adopted according to the own device number, so that the communication utilization rate is improved. And the traditional RS485 communication mode is a master-slave mode, the first sensor measuring unit needs to send a communication instruction to each sensor measuring unit in sequence, and after receiving a response receiving instruction, the first sensor measuring unit sends an instruction to the next sensor measuring unit.
The three-axis angle calculation method of each sensor measurement unit 1 is as follows:
the method adopted by the invention is different from the traditional method, and the microprocessor does not calculate the coordinates of the sensor in the three-dimensional graph, but independently determines the included angle between each axis of the acceleration sensor acquisition module 12 and the reference position. The gravity field (1g field) of the device is selected with reference to the position. As shown in FIG. 6, AXOUT，AYOUT，AZOUTThe three values are the output values of the acceleration sensor acquisition module 12, indicating the acceleration sensor acquisitionThe output acceleration of the manifold block 12 in the three XYZ axes.
The acceleration sensor acquisition module 12 outputs the three accelerations to the first microprocessor 11, and the first microprocessor 11 calculates the included angles theta, psi, phi between the three axes of the acceleration sensor acquisition module 12 and the gravity vector (1g field) according to the three accelerations,Wherein theta represents an included angle between an X axis of the acceleration sensor acquisition module and a gravity vector (1g field), psi represents an included angle between a Y axis of the acceleration sensor acquisition module and the gravity vector (1g field),and the included angle between the Z axis of the acceleration sensor acquisition module and the gravity vector (1g field) is shown. The calculation formula is as follows:
when the X, Y, Z axis of the acceleration sensor acquisition module coincides with the xyz axis of the space, the xyz axis of the space refers to the dashed line positions θ, Ψ, and,The angles of (a) are 90 degrees, 90 degrees and 180 degrees in sequence.
Each sensor measuring unit outputs three angle values to the upper computer 3 in an RS485 mode, and the three-axis coordinate calculation method of the whole device is as follows:
the angle of each sensor measuring unit is in turn (theta)1，ψ1，Φ1)，(θ2，ψ2，Φ2)，......(θi，ψi，Φi) Since the length of the flexible joint is fixed, compared with the length of the sensor measuring unit, the length of the flexible joint is shorter and the bending angle is smaller in the installation process, the length of the flexible joint is fitted to a part of the sensor measuring unit in actual calculation, and a fitting schematic diagram is shown in fig. 7.
Taking the initial end of the first sensor measuring unit as a calculation origin,
the coordinates of the end point of the first sensor measuring unit are calculated:
(x1,y1,z1)＝L1×(cosθ1，cosψ1，cosΦ1),
wherein ,
LCmeasuring the fixed length, L, of the unit for each sensorRA fixed length for a flexible joint;
the coordinates of the end point of the second sensor measuring unit are:
(x2,y2,z2)＝((x1+L2×cosθ2)，(y1+L2×cosψ2)，(z1+L2×cosΦ2))
wherein ,
L2＝LC+LR，
the coordinates of the end point of the ith sensor measuring unit are as follows:
(xi,yi,zi)＝((xi-1+Li×cosθi)，(yi-1+Li×cosψi)，(zi-1+Li×cosΦi))
wherein ,
Li＝LC+LR
the coordinates of the end point of the last sensor measuring unit are:
(xM,yM,zM)＝((xM-1+LM×cosθM)，(yM-1+LM×cosψM)，(zM-1+LM×cosΦM))
wherein ,
thus, the three-dimensional coordinates of the entire apparatus can be calculated.
The embodiment of the invention also provides a method for automatically measuring the deformation of the cross section of the tunnel in real time, which is implemented by adopting the device and comprises the following steps:
firstly, a plurality of sensor measuring units 1 are connected in series by using flexible joints 2 and then suspended on the inner wall 4 of a tunnel, first communication modules 13 of the sensor measuring units 1 are sequentially connected in series through RS485 communication cables, and a second communication module 16 of a first sensor measuring unit 1 is in communication connection with an upper computer 3;
step two, the second microprocessor 15 of the first sensor measuring unit 1 sends a control instruction to each first microprocessor 11, and the first microprocessor 11 controls the acceleration sensor acquisition module 12 connected with the first microprocessor 11 to measure the acceleration A of the acceleration sensor acquisition module 12 on the three XYZ axesXOUT、AYOUT、AZOUTThe first microprocessor 11 calculates the acquisition module of the acceleration sensor according to the three accelerationsThe included angles theta, psi, phi between the three axes of the block 12 and the gravity vector,
Step three, addressing each sensor measuring unit 1 in sequence in advance, and outputting included angles between three axes of an acceleration sensor acquisition module 12 of the sensor measuring unit 1 and a gravity vector to an upper computer 3 in a time-sharing mode in an RS485 mode according to the number of the device per se;
and step four, the upper computer 3 calculates the coordinates of the tail end points of the sensor measuring units 1 according to the angle values reported by the sensor measuring units 1, and then obtains the three-dimensional graph of the whole device and the projection of the three-dimensional graph in the plane of the section of the tunnel.
And fifthly, after the upper computer finishes the installation of the device, the coordinate value reported for the first time is used as an initial value of the whole device, the data reported subsequently is used as real-time monitoring data, the changes of the three-dimensional graph of the device and the projection in the plane of the cross section of the tunnel can be monitored in real time, and the deformation condition of the cross section of the tunnel is monitored.
The whole device designed by the invention is integrated, only a steel pipe provided with a sensor measuring unit needs to be fixed at the arch top of the tunnel during field installation, and only one communication cable is required and can be directly led out. The length of each sensor measuring unit is fixed and unchanged, an acceleration sensor is arranged in each sensor measuring unit, two sensors are not needed to be cooperatively used for measuring, the device is converted into a three-dimensional angle of each sensor measuring unit through calculation, and then the three-dimensional space posture of the whole device is positioned. The whole device only needs to be installed along the vault of the tunnel, does not need to be strictly controlled in a plane vertical to the tunnel, and can measure the deformation of the section of the tunnel.
The invention has the technical characteristics that:
1. full-automatic: the system can realize all-weather, real-time and continuous on-line monitoring and wireless remote monitoring.
2. The performance is good: 360 degrees omnibearing monitoring and effective disaster prevention early warning means.
3. The function is strong: the 2D and 3D acceleration fields and displacement fields can be tested, and a user can comprehensively and visually observe the deformation and the internal force reaction rule of the tested body in the loading process.
4. The use is easy: the installation is simple, and under no external force damage, the maintenance can be exempted for a long time.
5. The functions are complete: the method combines the modern micro-electromechanical technology, the communication and wireless communication technology, integrates the software functions, can comprehensively record the acquired data, compares the deformation trend at any time by setting an initial value and an alarm index, and triggers an alarm mechanism in time.
The above description is only an embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Claims (10)
1. The utility model provides a device that real-time automatic measure tunnel section warp which characterized in that: the tunnel system comprises an upper computer and a plurality of sensor measuring units which are connected in series through flexible joints, wherein the sensor measuring units are fixed on the inner wall of the tunnel, each sensor measuring unit is internally provided with a first microprocessor, an acceleration sensor acquisition module and a first communication module which are connected with the first microprocessor, the first communication modules of the sensor measuring units are sequentially connected in series and communicated, and the first sensor measuring unit further comprises a second microprocessor connected with the first microprocessor and a second communication module connected with the second microprocessor;
the acceleration sensor acquisition module is used for acquiring the output acceleration of the acceleration sensor acquisition module on three axes of XYZ;
the first microprocessor is used for calculating included angles between the three XYZ axes of the acceleration sensor acquisition module and the gravity vector according to output accelerations of the acceleration sensor acquisition module on the three XYZ axes;
the second microprocessor is in communication connection with the upper computer through a second communication module and transmits included angles between the three XYZ axes of the acceleration sensor acquisition module and the gravity vector calculated by each sensor measurement unit to the upper computer in a time-sharing manner;
and the upper computer is used for calculating the coordinates of the tail end points of the sensor measuring units according to the angle values reported by the sensor measuring units so as to obtain the three-dimensional graph of the whole device and the projection of the three-dimensional graph in the plane of the section of the tunnel.
2. The apparatus for automatically measuring the deformation of a tunnel section in real time according to claim 1, wherein: the acceleration sensor acquisition module is an accelerometer.
3. The apparatus for automatically measuring the deformation of a tunnel section in real time according to claim 1, wherein: the second communication module communicates with the upper computer in a mode of optical fiber network or GPRS.
4. The apparatus for automatically measuring the deformation of a tunnel section in real time according to claim 1, wherein: the output accelerations of the acceleration sensor acquisition module on the three XYZ axes are A respectivelyXOUT、AYOUT、AZOUTThe first microprocessor calculates included angles theta, psi, phi between three axes of the acquisition module of the acceleration sensor and the gravity vector according to the three accelerations,Wherein the content of the first and second substances,theta represents an included angle between the X axis of the acceleration sensor acquisition module and the gravity vector, psi represents an included angle between the Y axis of the acceleration sensor acquisition module and the gravity vector,the included angle between the Z axis of the acceleration sensor acquisition module and the gravity vector is represented, and the calculation formula is as follows:
5. the apparatus for automatically measuring the deformation of a tunnel section in real time according to claim 1, wherein: the host computer calculates the coordinates of the tail end points of each sensor measuring unit according to the angle values reported by each sensor measuring unit, and specifically comprises the following steps:
and calculating the coordinates of the tail end point of the first sensor measuring unit by taking the start end of the first sensor measuring unit as a calculation origin:
(x1,y1,z1)＝L1×(cosθ1，cosψ1，cosΦ1),
wherein ,
LCmeasuring the fixed length, L, of the unit for each sensorRA fixed length for a flexible joint;
the coordinates of the end point of the second sensor measuring unit are:
(x2,y2,z2)＝((x1+L2×cosθ2)，(y1+L2×cosψ2)，(z1+L2×cosΦ2))
wherein ,L2＝LC+LR，
The coordinates of the end point of the ith sensor measuring unit are as follows:
(xi,yi,zi)＝((xi-1+Li×cosθi)，(yi-1+Li×cosψi)，(zi-1+Li×cosΦi))
wherein ,Li＝LC+LR
The coordinates of the end point of the last sensor measuring unit are:
(xM,yM,zM)＝((xM-1+LM×cosθM)，(yM-1+LM×cosψM)，(zM-1+LM×cosΦM))
wherein ,
thus, the three-dimensional coordinates of the entire apparatus are calculated.
6. A method for automatically measuring the deformation of a tunnel section in real time, which is characterized by adopting the device of any one of claims 1-5, and the method comprises the following steps:
firstly, a plurality of sensor measuring units are connected in series by using flexible joints and then suspended on the inner wall of a tunnel, first communication modules of the sensor measuring units are sequentially connected in series through RS485 communication cables, and second communication modules of the first sensor measuring units are in communication connection with an upper computer;
step two, the second microprocessor of the first sensor measuring unit sends a control instruction to each first microprocessor, and the first microprocessor controls the acceleration sensor acquisition module connected with the first microprocessor to measure the acceleration A of the acceleration sensor acquisition module on the three XYZ axesXOUT、AYOUT、AZOUTThe first microprocessor calculates included angles theta, psi, phi between three axes of the acquisition module of the acceleration sensor and the gravity vector according to the three accelerations,
Step three, addressing each sensor measuring unit in advance according to a sequence, and outputting included angles between three axes of an acceleration sensor acquisition module of the sensor measuring unit and a gravity vector to an upper computer in a time-sharing mode in an RS485 mode according to the number of the sensor measuring unit;
and fourthly, the upper computer calculates the coordinates of the tail end points of the sensor measuring units according to the angle values reported by the sensor measuring units, and then the three-dimensional graph of the whole device and the projection of the three-dimensional graph in the plane of the section of the tunnel are obtained.
7. The method for automatically measuring the deformation of the cross section of the tunnel in real time as claimed in claim 1, wherein: and step five, after the device is installed by the upper computer, the coordinate value reported for the first time is used as an initial value of the whole device, the data reported subsequently is used as real-time monitoring data, the changes of the three-dimensional graph of the device and the projection in the plane of the cross section of the tunnel can be monitored in real time, and the deformation condition of the cross section of the tunnel is monitored.
8. The method for automatically measuring the deformation of the cross section of the tunnel in real time as claimed in claim 1, wherein: the first microprocessor calculates included angles theta, psi, phi between three axes of the acquisition module of the acceleration sensor and the gravity vector according to the three accelerations,Wherein theta represents an included angle between an X axis of the acceleration sensor acquisition module and a gravity vector, psi represents an included angle between a Y axis of the acceleration sensor acquisition module and the gravity vector,the included angle between the Z axis of the acceleration sensor acquisition module and the gravity vector is represented, and the calculation formula is as follows:
9. the method for automatically measuring the deformation of the cross section of the tunnel in real time as claimed in claim 1, wherein: the host computer calculates the coordinates of the tail end points of each sensor measuring unit according to the angle values reported by each sensor measuring unit, and specifically comprises the following steps:
and calculating the coordinates of the tail end point of the first sensor measuring unit by taking the start end of the first sensor measuring unit as a calculation origin:
(x1,y1,z1)＝L1×(cosθ1，cosψ1，cosΦ1),
wherein ,
LCmeasuring the fixed length, L, of the unit for each sensorRA fixed length for a flexible joint;
the coordinates of the end point of the second sensor measuring unit are:
(x2,y2,z2)＝((x1+L2×cosθ2)，(y1+L2×cosψ2)，(z1+L2×cosΦ2))
wherein ,L2＝LC+LR，
The coordinates of the end point of the ith sensor measuring unit are as follows:
(xi,yi,zi)＝((xi-1+Li×cosθi)，(yi-1+Li×cosψi)，(zi-1+Li×cosΦi))
wherein ,Li＝LC+LR
The coordinates of the end point of the last sensor measuring unit are:
(xM,yM,zM)＝((xM-1+LM×cosθM)，(yM-1+LM×cosψM)，(zM-1+LM×cosΦM))
wherein ,
thus, the three-dimensional coordinates of the entire apparatus are calculated.
10. The method for automatically measuring the deformation of the cross section of the tunnel in real time as claimed in claim 1, wherein: the second communication module communicates with the upper computer in a mode of optical fiber network or GPRS.
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