CN110319809A - The wire type monitoring device and its monitoring method with appearance are seen in dam - Google Patents
The wire type monitoring device and its monitoring method with appearance are seen in dam Download PDFInfo
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- CN110319809A CN110319809A CN201910638617.9A CN201910638617A CN110319809A CN 110319809 A CN110319809 A CN 110319809A CN 201910638617 A CN201910638617 A CN 201910638617A CN 110319809 A CN110319809 A CN 110319809A
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- 238000012544 monitoring process Methods 0.000 title claims abstract description 47
- 238000012806 monitoring device Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000005259 measurement Methods 0.000 claims abstract description 128
- 239000000835 fiber Substances 0.000 claims abstract description 37
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 37
- 239000011159 matrix material Substances 0.000 claims abstract description 22
- 239000013307 optical fiber Substances 0.000 claims description 24
- 238000004804 winding Methods 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 5
- 239000004743 Polypropylene Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- -1 polypropylene Polymers 0.000 claims description 3
- 229920001155 polypropylene Polymers 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000003475 lamination Methods 0.000 claims 1
- 238000006073 displacement reaction Methods 0.000 abstract description 3
- 238000004062 sedimentation Methods 0.000 abstract description 3
- 238000012986 modification Methods 0.000 abstract description 2
- 230000004048 modification Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 230000008859 change Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000035508 accumulation Effects 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000010363 phase shift Effects 0.000 description 1
- 230000005622 photoelectricity Effects 0.000 description 1
- 238000005295 random walk Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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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
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
- G01B11/161—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge by interferometric means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Gyroscopes (AREA)
Abstract
The invention discloses the wire type monitoring devices and its monitoring method seen in a kind of dam with appearance to make measuring instrument travel at the uniform speed in measurement track by measuring track on dam face slab surface or dam body internal preset；The measuring system is made of at the uniform velocity hoist engine, measuring instrument, measurement track, dsp processor, power line etc..The present invention measures track in dam surface installation T-type, realizes the wire type monitoring of dam appearance；It is traveled at the uniform speed in preset measurement track by the uniform velocity hoist engine power-assisted by measuring instrument, reduces measurement error；The deviation updated between the attitude angle of matrix and the attitude angle of attitude measurement instrument to fibre optic gyroscope strapdown optimizes, and distinguishes and compensates to drift, can be improved monitoring accuracy；By designing water proof ring, the waterproof performance of monitoring device is enhanced.The present invention is suitable for the continuous measurement of sedimentation and horizontal displacement inside the continuous measurement on dam surface and internal modification, especially panel deflection and dam.
Description
Technical field
The present invention relates to architectural engineerings and dam measuring device field, more particularly, to the line seen in a kind of dam with appearance
Formula monitoring device and its monitoring method.
Background technique
In engineering monitoring, there are several monitoring methods such as point type monitoring, wire type monitoring, plane survey and three-dimensional measurement,
The basis of middle plane survey and three-dimensional measurement is point type monitoring and wire type monitoring.Point type monitoring is heavy with water-pipe type settlement instrument monitoring
It is reduced to typical case, wire type monitoring is measured value all along can monitoring by taking optical fiber temperature-measurement as an example.
In engineering monitoring, the measured value of entire line is often replaced with certain points on line, but ignores the office on the line
Portion's variation, and the dangerous shape of whole building or dam is often caused by local unsafe condition in skyscraper or high dam
State.In online monitoring, need to set operational monitoring along sensor or sensor, therefore the monitoring to putting on entire line in online
It is the difficult point of engineering monitoring.
Panel deflection and dam are observed in fibre optic gyroscopes such as CN1558182, CN1558181, CN1940473, CN2681081
In body sedimentation, by flexibility detection pipe pre-buried on the line of monitoring, during fibre optic gyroscope moves in flexible detection pipe, according to light
Principle of interference measure the value that Sagnac phase shift variations are converted to revolving speed Ω, uniform motion shape of the value in fibre optic gyroscope
It is proportional with panel deflection or dam body settlement under state, obtain measured value.The measurements such as above-mentioned CN1558182, CN1558181 system
It unites and updating maintenance can be achieved, can guarantee the long-term observation of deformation, realize the deformation observation of continuous non-point type.Shortcoming, first is that
There are drift unstability, the accumulations of drift shakiness to influence greatly on monitor value for the fibre optic gyroscope that the measuring system uses, so that
Error is larger；Second is that draught line makes outside barrel diameter change during folding and unfolding, and in the case where drum speed is certain, traction
The speed of line walking is also changing, and cannot achieve the uniform motion of monitoring device, is unable to satisfy the requirement of accurate measurement.
(inertial navigation monitoring is seen in dam in CN105300351A (seeing distributed monitoring system in dam), CN105403191A
The automatic trailer system of device) in, the data obtained using fibre optic gyroscope and accelerometer resolve the strapdown of chip by strapdown
It resolves, to reduce fibre optic gyroscope drift trueness error, but is difficult with wireless transmission method inside dam, the photoelectricity used
Encoder etc. relates to fax transfer device and makes power line also and needs to also serve as power supply line and data line, inconvenient for use, complicated for operation, no
It is economical；Simultaneously during the motion, which not can avoid power line and skids at guide wheel, so that the position of photoelectric encoder record
Information errors are set, so that velocity information mistake, to seriously affect the reliability of measurement.
Summary of the invention
The first purpose of this invention is to provide the wire type monitoring device seen in a kind of dam with appearance, and measuring instrument can fit
The local deformation that track should be measured enhances the waterproof performance of monitoring device, improves the uniformity of the speed of service, avoids instrument
The influence of skidding.
Second object of the present invention is to provide a kind of interior wire type monitoring method seen with appearance of dam, wire type monitoring
The unstable influence to result of bias stability of interference fiber optical gyroscope caused by method can be reduced because of temperature, runing time etc. solves optical fibre gyro
There are the deficiencies of white noise, so as to improve the precision of dam face slab amount of deflection or dam settlement monitoring.
The first purpose of this invention is achieved in that
A kind of interior wire type monitoring device seen with appearance of dam, including measuring instrument, measurement track, at the uniform velocity hoist engine and power
Line is characterized in: dsp processor, fibre optic gyroscope, attitude measurement instrument are equipped in measuring instrument；Volume is equipped at the uniform velocity hoist engine
Raise machine support, motor, belt, low-power machine, belt lace, shield, spool, belt adjuster and belt lace rope winding jib；
It is equipped with T-type measurement track in measured dam surface one end, measuring instrument is placed on T-type measurement track, is surveying
Four base angles of amount instrument are respectively provided with a measuring instrument bracket, are equipped with measuring instrument larger wheels, measuring instrument in the tail portion of measuring instrument bracket
Bottom in undercut type and being respectively arranged in the front and the rear with a measuring instrument small wheels in groove；At the uniform velocity hoist engine is located at measured dam table
The other end in face and measurement track extended line on, the power line at the uniform velocity in the spool of hoist engine is fixed on the preceding hook of measuring instrument
On, under the drive of at the uniform velocity hoist engine, measuring instrument can move on measurement track；The dsp processor uses the parallel body of Harvard
Architecture has coupled the microprocessor of digital processing module, AccessPort unit, and attitude algorithm result automatic storage is in place
It manages in device；
Under the action of measuring instrument small wheels, the measuring instrument larger wheels of measuring instrument two sides are adjacent to T-type measurement track movement；It surveys
The interior angle of the rotation axis face T-type measurement track of instrument larger wheels is measured, the rotation axis of measuring instrument small wheels is set to the bottom of groove, small
The rotation axis of wheel is parallel to the top surface of T-type measurement track.
Circular sliding slopes part among the measuring instrument bracket is elastoplasticity polypropylene material, and both ends are steel, pass through spiral
Line is formed by connecting；The elastoplasticity of circular sliding slopes part refers to measuring instrument in the process of running, and measuring instrument bracket occurs normal deformation and belongs to
Elastic range can restore to the original state.
For the measuring instrument in measured dam internal operation, the bottom for measuring track is equipped with bottom baffle, keeps off in bottom
The bolt hole that plate is connected close to the right and left nearby sets that there are two the bottom top plates of elasticity；In the connection of two neighboring measurement track
It is equipped with recess circle for placing water proof ring between pipe and between the connecting tube and bottom baffle of measurement track, adjacent two
It is sealed with water proof ring between the connecting tube of a measurement track, between bottom baffle and the connecting tube for measuring track, recess circle makes
Connecting tube, bottom baffle and the water proof ring three for measuring track, which coincide, to be sealed.
The water proof ring ear with water proof ring earhole is symmetrically arranged at left and right sides of water proof ring, connection bolt is successively worn
The measurement track flanging bolt hole of a section, the measurement track flanging bolt hole of water proof ring earhole and next section are crossed, or is successively worn
Measurement track flanging bolt hole, water proof ring earhole and bottom baffle bolt hole are crossed, is connected to measurement with making water proof ring close and firm
On track, the water proof ring top connected in the middle part of measurement track is additionally provided with messenger wire hole.
For the measuring instrument in the panel surface operation for being measured dam, attitude measurement instrument is Y-axis inclined direction posture instrument,
Fibre optic gyroscope is sensitive measurement instrument X-axis；For measuring instrument in measured dam internal operation, attitude measurement instrument is X-axis sideway, Y
Axis inclination, Z axis direction of rotation posture instrument；Fibre optic gyroscope is three axis closed loop gyroscopes, the respectively X-axis of sensitive measurement instrument, Y
Axis, Z axis.
Motor runner inner diameter size is adjusted by belt lace and low-power machine in the at the uniform velocity hoist engine, when spool is put
Line, motor runner internal diameter increase；When spool take-up, motor runner internal diameter reduces；Belt is in belt adjuster and belt lace row's rope
Smooth rotation under the coordination of device.
Second object of the present invention is achieved in that
A kind of interior wire type monitoring method seen with appearance of dam, be characterized in: measuring instrument is being measured dam surface programming
Measurement track in travels at the uniform speed under the traction of at the uniform velocity hoist engine, measured value using measuring instrument from endpoint return initial point as a result,
The process is paused in t position short time Δ t (1s~3s) altogether；The single shaft of sensitive carrier X-axis is installed in the measuring instrument
The unidirectional attitude measurement instrument of fibre optic gyroscope, sensitive carrier Y-axis, dam appearance wire type monitoring the following steps are included:
A, the endpoint that measuring instrument reaches measurement track stops 1min~5min, and determines carrier coordinate system b system Relative Navigation
Coordinate system n ties up to the initial attitude θ of initial time1；T position is selected on measurement track, each position stops Δ t；
B, dsp processor judges the section Δ t of measuring instrument stop according to measured value, to the posture of k-th of position Δ t period
Measuring instrument and fibre optic gyroscope, which take, is worth attitude angle θtkWith angular speed wtk, by attitude angle θtkWith angular speed wtkΔ t is replaced respectively
The attitude measurement instrument in section and the measured value of fibre optic gyroscope, and the optical fibre gyro measured value in kth -1 to k-th of position section is subtracted
Remove angular speed wtk；
C, the initial point of measurement track is returned to, at this time t-th of position, that is, terminal attitude angle θttWith angular speed wtt, at DSP
Reason device subtracts w to the optical fibre gyro measured value of t-1 to t surveying rangett-1, finally obtain the sequence w of new optical fibre gyro measured value；
D, by initial attitude θ1, establish the opposite strap-down matrix that b system ties up to the moment with respect to n (x1, y1)
=(0,0), it is assumed that be j, θ at the time of the 2nd position Δ t corresponds to1+1=θ1+w1* 1/f, θj=θj-1+wj*
1/f enables θj-θt2=Δ θt2, i is from 1 to j, φi=θi-Δθt2* i/j, φ is final carriage, and f is measurement frequency, and υ is the measuring instrument speed of service, and x is measurement rail
Road extension position, y are the monitor value at x；
E, with φjFor new initial attitude, repeats D step algorithm completion t-2 and be recycled to θtt, it is assumed that θttEnd of time is n,
Then final carriage φ=[φ1... ..., φn], Most
After obtain monitor value y.
Or, the method passes through at the uniform velocity hoist engine or survey by measuring instrument in the measurement track for being measured dam internal preset
Travel at the uniform speed under amount instrument counterweight traction, measured value using measuring instrument return initial point from endpoint as a result, the process is a in t altogether
Position short time Δ t (1s~3s) pauses；Be equipped in the measuring instrument sensitive carrier X-axis, Y-axis, Z axis three axis optical fiber tops
Spiral shell instrument, sensitive carrier X-axis, Y-axis, Z axis three-axis attitude measuring instrument, the wire type monitoring seen in dam the following steps are included:
A, the endpoint that measuring instrument reaches measurement track stops 1min~5min, and determines carrier coordinate system b system Relative Navigation
Coordinate system n ties up to the initial attitude n of initial time1=[φ1, θ1, γ1]T；T position is selected on measurement track, each position is stopped
Stay Δ t；
B, dsp processor judges the section Δ t of measuring instrument stop according to measured value, to the posture of k-th of position Δ t period
Measuring instrument and fibre optic gyroscope, which take, is worth attitude angle ntk=[φtk, θtk, γtk]TAnd angular speed
By attitude angle ntkWith angular speed wtkThe attitude measurement instrument measured value and fibre optic gyroscope measured value in the section Δ t are replaced respectively, and to kth-
The fibre optic gyroscope measured value of 1 to k-th position section subtracts angular speed wtk；
C, the initial point of measurement track is returned to, at this time t-th of position, that is, terminal attitude angle nttWith angular speed wtt, DSP
Processor subtracts angular speed w to the optical fibre gyro measured value of t-1 to t surveying rangett-1, finally obtain new optical fibre gyro measured value
Sequence w；
D, according to n1=[φ1, θ1, γ1]T, the strap-down matrix that b system ties up to the moment with respect to n is established,Opposite initial attitude
Strap-down matrix is
E, posture is updated using quaternary number J=a+bi+cj+dk Measurement starting point is enabled to sit
Mark (x1, y1, z1)=(0,0,0), it is assumed that it is j at the time of the 2nd position Δ t corresponds to, enables φj-φt2=Δ φt2, θj-θt2=Δ
θt2, γj-γt2=Δ γt2, i from 1 to j,θj-θ1=arcsin (T32),φi
=φi-Δφt2* i/j, θi=θi-Δθt2* i/j, γi=γi-Δγt2* i/j, this moment with respect to the strap-down matrix of initial attitude
For Tj,
F, with Nj=[φj, θj, γj]TFor new initial attitude, repeats E step algorithm completion t-2 and be recycled to ntk=
[αtk, θtk, γtk]T, it is assumed that ntkEnd of time is n, then final carriage N=[N1, N2, N3... ..., Nn], finally obtain monitoring
CurveDam amount of deflection or dam settlement can be calculated by monitoring curve.
Compared with the prior art, the invention has the following advantages:
1, by making motor runner diameter in hoist engine, spool diameter rear size function before measuring, make belt lace tune
Length and measurement length reel width, motor runner width, power line radius, belt lace radius distance value function are saved, so that surveying
Amount instrument makes movement velocity more evenly by hoist engine power-assisted in preset measurement track, be at the uniform velocity worth by this displacement of calculating with
Monitor value is more acurrate, to reduce measurement error；
2, the length of adjusting slideway in belt adjuster is preset, the length and measurement front and back motor runner diameter change
Direct proportionality slides adjuster horizontal axis within the scope of adjusting slideway to adjust the elastic of belt, keeps at the uniform velocity hoist engine flat
Steady rotation；
3, in measuring instrument attitude measurement instrument and fibre optic gyroscope stop section the measured value stop section
Mean value substitution, and the initial value as next section, subtract the initial value to the fibre optic gyroscope measured value in next section, effectively solve
The continuity problem and fibre optic gyroscope drift instability problem for measurement sequence of having determined；It is established according to the initial attitude of starting
Opposite strap-down matrix optimizes influence of the update of strap-down matrix to avoid initial attitude to monitor value, that is, avoids initial
Posture participates in matrix operation, improves the precision of attitude updating algorithm, simplifies calculating；
4, the deviation progress updated to fibre optic gyroscope strapdown between the attitude angle of matrix and the attitude angle of attitude measurement instrument is excellent
Change compensation, it is possible to reduce the random error and systematic error of fibre optic gyroscope measured value, while the Optimization Compensation of by stages can have
Effect reduces the influence of error accumulation, can be improved monitoring accuracy；
5, when Measurement of Dam appearance, the rotation axis of 2 small wheels is set to the bottom of groove before and after measuring instrument, and small wheels turn
Moving axis is parallel to the top surface of T-type measurement track, and the interior angle of the rotation axis face T-type measurement track of measuring instrument larger wheels can make to survey
Amount instrument larger wheels are adjacent to T-type measurement track movement, and the circular sliding slopes part among measuring instrument bracket is elastoplasticity polypropylene material,
It is suitable for the variation such as local out-of-flatness.
6, by design water proof ring corresponding with measurement track flanging, the waterproof performance of monitoring device is enhanced.
The present invention is suitable for sedimentation inside the continuous measurement on dam surface and internal modification, especially panel deflection and dam
And the continuous measurement of horizontal displacement.
Detailed description of the invention
Fig. 1 is layout drawing of the wire type monitoring device on acclive measured dam surface；
Fig. 2 is layout drawing of the wire type monitoring device inside acclive measured dam；
Fig. 3 is layout drawing of the wire type monitoring device inside the measured dam of the low gradient；
Fig. 4 is the schematic diagram of default measurement track arrangement；
Fig. 5 is the structural schematic diagram of at the uniform velocity hoist engine；
Fig. 6 is the structural schematic diagram that at the uniform velocity hoist engine runner is connect with each belt；
Fig. 7 is the schematic diagram of at the uniform velocity each belt winding of hoist engine；
Fig. 8 is the positive structure diagram of belt adjuster；
Fig. 9 is the side structure schematic view of belt adjuster；
Figure 10 is the structural schematic diagram of adjuster pulley outline border；
Figure 11 is the schematic diagram of internal structure of measuring instrument；
Figure 12 is the structural schematic diagram for measuring track water proof ring；
Figure 13 is another structural schematic diagram for measuring track water proof ring；
Figure 14 is the structural schematic diagram for measuring rail base baffle；
Figure 15 is drawing in side sectional elevation of the measuring instrument in measurement track；
Figure 16 is the structural schematic diagram of measuring instrument wheel；
In figure: measuring instrument 1, (12V-20AH) power supply 10, hook 11 before measuring instrument, hook 12 after measuring instrument, measuring instrument wheel 13,
Measuring instrument small wheels 14, measuring instrument groove 15, circular sliding slopes part 16, measuring instrument bracket 17 are measured dam 2, measure track 3,
Water proof ring 30, water proof ring ear 300, water proof ring earhole 301, water-proof circular circle 302, messenger wire hole 303, recess circle 304, bottom top
Disk 31, bottom baffle 32, connection bolt 33, connecting tube 34, anchor bolt 35, at the uniform velocity hoist engine 4, at the uniform velocity bracket of hoisting machine 40,
Motor 41, motor 410, speed reducer 411, electric machine main shaft 412, motor runner 413, belt 42, low-power machine 43, small-power
Motor runner 430, belt lace 44, shield 45, spool 46, spool runner 460, spool main shaft 461, belt adjuster 47 are adjusted
Save device support 470, adjuster horizontal axis 471, adjuster pulley 472, hook 473, carbine 474, adjusting slideway 475, adjuster
Pulley outline border 476, belt lace rope winding jib 48, common hoist engine 49, dsp processor 5, fibre optic gyroscope 6, attitude measurement instrument 7 move
The line of force 8.
Specific embodiment
Below with reference to embodiment and compares attached drawing invention is further described in detail.
Embodiment 1:
Such as Fig. 1 and Fig. 4, a kind of interior wire type monitoring device seen with appearance of dam, measuring instrument 1 is on measured 2 surface of dam
Travel at the uniform speed under being driven in preset measurement track 3 by the uniform velocity hoist engine 4, from the top to the bottom when measuring instrument 1 do not stop, then from
Bottom mortgage originator pauses in t position short time Δ t (2s~10s) altogether；Such as Figure 11, dsp processor 5, quick is set in measuring instrument 1
Feel the single axis fiber gyro instrument 6 of carrier X-axis, the unidirectional attitude measurement instrument 7 of sensitive carrier Y-axis；Such as Fig. 5, at the uniform velocity set in hoist engine 4
There are at the uniform velocity bracket of hoisting machine 40, motor 41, belt 42, low-power machine 43, belt lace 44, shield 45, spool 46, skin
Band adjuster 47, belt lace rope winding jib 48.
Such as Figure 15, measuring instrument 1 when measured 2 surface of dam is run, press from both sides by the measuring instrument bracket 17 on 1 four angles of measuring instrument
The firmly both sides of T-type measurement track 3 make the measuring instrument wheel 13 of two sides be adjacent to the straight of T-type measurement 3 vertical supporting rod two sides of track respectively
Angle rotation, and two right angles of the rotation axis face of measuring instrument wheel 13；The rotation axis of measuring instrument small wheels 14 is parallel to T-type measurement
The top surface of track 3 rotates measuring instrument small wheels 14 along the top of T-type measurement track.
Such as Fig. 5, the motor 41 at the uniform velocity hoist engine 4 is equipped with motor 410, and the left side of motor 410 is speed reducer 411,
The right side of electric machine main shaft 412 is motor runner 413；Motor runner 413 is connect by belt 42 with spool runner 460, in motor
Side between runner 413 and spool runner 460, close to motor runner 413 is equipped with low-power machine 43, low-power machine 43
It is connected by belt lace 44 with motor runner 413.Such as Fig. 7, low-power machine runner 430 is not powered on can be freely along up time
Needle rotates in an anti-clockwise direction, and after low-power machine 43 is powered, rotates counterclockwise and Frequency Adjustable adjusts the speed, specified pulling force model
Enclose 0.008~0.015KN；Under the action of belt lace rope winding jib 48, in low-power machine runner 430 every row can in parallel around 3~
7 circle belt laces 44.
Motor runner 413 at the uniform velocity in hoist engine 4 is factory diameter D1When, spool 46 has wound power line 8, straight at this time
Diameter is D ', and the diameter that 46 unwrapping wire of spool finishes is D, the diameter of motor runner 413 is D at this time1', their size relationship isIt is required that wire type monitors length S≤450m, and the width of the adjustment length s of belt lace 44 and measurement length S, reel 46
Degree L, the width b of motor runner 413, the radius R of power line 8, belt lace 44 radius r between relationship beIt is adjusted
Save length s≤50m.
Such as Fig. 6 and Fig. 7, at the uniform velocity 413 lower right side of motor runner of hoist engine 4 is equipped with low-power machine 43, low-power machine
The outside diameter d of runner 430 is the diameter D of motor runner 41311/2~2/3；Belt tune is equipped in the lower left side of spool runner 460
Device 47 is saved, belt adjuster 47 makes at the uniform velocity 4 smooth rotation of hoist engine, wherein belt 42 can edge by adjusting the elastic of belt 42
Adjuster slideway 475 is slided centered on spool main shaft 461；Motor runner 413 and low-power machine runner 430 it
Between be equipped with belt lace rope winding jib 48, the right side of at the uniform velocity hoist engine 4 be equipped with shield 45.Belt lace 44 is a single line, cuticle
It is separately fixed in motor runner 413 and low-power machine runner 430 end to end with 44, the cross section of belt lace 44 is circle
And length is greater than adjustment length s, belt lace 44 is wound on low-power machine runner 430 before measuring every time.Reel 46 is along clockwise
Unwrapping wire, low-power machine 43 do not work, and belt lace 44 is surround under the traction of motor 41 along motor main shaft 412, and is passed through
Belt lace rope winding jib 48 is fitly arranged in motor runner 413；Reel 46 is along take-up counterclockwise, the synchronous work of low-power machine 43
Make and rotate counterclockwise, low-power machine 43 is by belt lace 44 out of motor runner 413 under the auxiliary of belt lace rope winding jib 48
It is fitly recovered in low-power machine runner 430.
Such as Fig. 8, be equipped in belt adjuster 47 adjuster support 470, adjuster horizontal axis 471, adjuster pulley 472,
Adjuster pulley outline border 476；It is equipped with hook 473 in the both ends bottom of adjuster support 470, is made to link up with 473 Hes with carbine 474
Adjuster horizontal axis 471 connects；Such as Fig. 9, adjusting slideway 475 is set at the middle part of adjuster support 470, carbine 474 can be according to tune
The amount of force of section device horizontal axis 471 makes adjuster horizontal axis 471 in about 475 smooth sliding of adjusting slideway, adjusting slideway 475
Length is k (D1'-D1)；When adjuster horizontal axis 471 is when adjusting slideway 475 moves up and down, such as Figure 10, adjuster pulley outline border
476 make belt 42 be adjacent to the movement of adjuster pulley 472；
Such as Fig. 6 and Fig. 8, for belt 42 under the restriction of adjuster pulley outline border 476, belt 42 is adjacent to adjuster pulley 472
Across belt adjuster 47；Adjuster horizontal axis 471 passes through the hole of adjuster pulley outline border 476 and adjuster pulley 472, fixed
On adjuster support 470, adjuster horizontal axis 471 has the function of bolt concurrently.
Such as Fig. 6, adjuster horizontal axis 471 corresponds to the diameter D of motor runner 413 at the top of adjusting slideway 4751', belt
42 is in alignment with motor runner 413, adjuster pulley 472,460 point of contact of spool runner；Adjuster horizontal axis 471 is adjusting cunning
The bottom in road 475 corresponds to 413 diameter D of motor runner1, belt 42 and motor runner 413, adjuster pulley 472, spool runner
460 point of contacts are at triangle, long (0.5 π+the 1) (D of the length longer sides of two short side of triangle1'-D1)。
A kind of wire type monitoring method of dam appearance, measured value is using measuring instrument 1 from endpoint return initial point as a result, the mistake
Journey is paused in t position short time Δ t (1s~3s) altogether；The wire type of dam appearance monitor the following steps are included:
A, the endpoint that measuring instrument 1 reaches measurement track 3 stops 1min--5min, and determines that carrier coordinate system b system is opposite and lead
Boat coordinate system n ties up to the initial attitude θ of initial time1；T position is selected on linear measurement track 3, each position stops
Δt；
B, dsp processor 5 judges the section Δ t of the stop of measuring instrument 1 according to measured value, to the appearance of k-th of position Δ t period
State measuring instrument 7 and fibre optic gyroscope 6, which take, is worth attitude angle θtkWith angular speed wtk, by θtkAnd wtkThe appearance in the section Δ t is replaced respectively
6 measured value of state measuring instrument 7 and fibre optic gyroscope, and w is subtracted to the optical fibre gyro measured value in kth -1 to k-th of position sectiontk；
C, monitoring 3 initial point of track is returned to, at this time t-th of position, that is, terminal attitude angle θttWith angular speed wtt, at DSP
Reason device 5 subtracts w to the optical fibre gyro measured value of t-1 to t surveying rangett-1, finally obtain new optical fibre gyro measured value sequence w；
Sequence w and θt=[θt1, θt2, θtt] be stored in dsp processor 5；
D, by θ1, establish the opposite strap-down matrix that b system ties up to the moment with respect to n (x1, y1)
=(0,0), it is assumed that be j, θ at the time of the 2nd position Δ t corresponds to1+1=θ1+w1* 1/f, θj=θj-1+wj* 1/f,
Enable θj-θt2=Δ θt2, i is from 1 to j, φi=θi-Δθt2* i/j,
E, with φjFor new initial attitude, repeats D step algorithm completion t-2 and be recycled to θtt, it is assumed that θttEnd of time is n,
Then final carriage φ=[φ1... ..., φn], It finally obtains
Monitor deflection value y.
Embodiment 2:
Such as Fig. 2, the wire type monitoring device seen in a kind of dam sets three axis optical fibre gyro instrument 6, three-axis attitude in measuring instrument 1
Measuring instrument 7, measuring instrument 1 is in the measurement track 3 of the gradient >=10 ° for being measured 2 internal preset of dam, under counterweight effect, from
Top moves to always bottom, and centre is not artificially paused, and measuring instrument 1 is when measuring the bottom of track 3 by bottom baffle 32
Two elastic bottom top plates 31 are blocked, and such as Figure 13 and Figure 14, between the connecting tube 34 of two neighboring measurement track 3 and are surveyed
The recess circle 304 being equipped between the connecting tube 34 and bottom baffle 32 of track 3 for placing water proof ring 30 is measured, it is two neighboring
It measures between the connecting tube 34 of track 3, sealed with water proof ring 30 between bottom baffle 32 and the connecting tube 34 for measuring track 3,
Recess circle 304 makes the identical sealing of the connecting tube 34, bottom baffle 32 and 30 three of water proof ring that measure track 3；Measuring instrument 1 is the bottom of at
Portion stops after 3--5min by the bottom at the uniform velocity mortgage originator under the drive of at the uniform velocity hoist engine 4 from measurement track 3, short t position altogether
Time Δ t (2s~10s) pauses.Water proof ring 30 is additionally provided with water proof ring ear 300 and water proof ring earhole 301, connection bolt 33 according to
The secondary 3 flanging bolt hole of measurement track for measuring 3 flanging bolt hole of track, water proof ring earhole 301 and next section across a upper section,
Or measurement 3 flanging bolt hole of track, 32 bolt hole of water proof ring earhole 301 and bottom baffle are sequentially passed through, keep water proof ring 30 close
It is securely attached on measurement track 3, enhances the waterproof performance of monitoring device；Such as Figure 12, connected in the middle part of measurement track 3
The messenger wire hole 303 for wearing power line 8 is additionally provided at the top of water proof ring 30.
In this example at the uniform velocity the speed of hoist engine 4 be 0.2~0.5m/s, three axis optical fibre gyro instrument 6 be low dynamic, high-precision,
The key technical indexes:
Random walk:
Dynamic range: -30 °/s~50 °/s.
Bias instaility: 0.01 °/h.
Output frequency: 100HZ.
Attitude measurement instrument 7 is measurement inclination, swings, the posture information of direction of rotation, the key technical indexes:
Measurement range: -90 °~90 °.
Time requirement: 2~10s.
The operating method of at the uniform velocity hoist engine 4 is similar to Example 1.
A kind of interior wire type monitoring method seen of dam, its step are as follows:
A, the endpoint that measuring instrument 1 reaches measurement track 3 stops 3min--5min, and determines that carrier coordinate system b system is opposite and lead
Boat coordinate system n ties up to the initial attitude n of initial time1=[φ1, θ1, γ1]T；T position is selected on linearly monitoring track, each
Position stops Δ t；
B, dsp processor 5 judges the section Δ t of the stop of measuring instrument 1 according to measured value, stops the Δ t period to k-th of position
Attitude measurement instrument 7 and fibre optic gyroscope 6, which take, is worth attitude angle ntk=[φtk, θtk, γtk] TWith angular speed wtk=[αtk,
φtk, ψtk]T, by ntkAnd wtk6 measured value of attitude measurement instrument 7 and fibre optic gyroscope for replacing the section Δ t respectively, is equivalent to a Δ
The measured value at only one moment (1/f) of the section t, then subtracts w to the optical fibre gyro measured value in kth -1 to k-th of position sectiontk；
C, by the endless form of second step, measuring instrument 1 returns to the initial point of monitoring track 3, and the t position is eventually at this time
The attitude angle n of pointttWith angular speed wtt, dsp processor 5 subtracts w to the optical fibre gyro measured value of t-1 to t surveying rangett-1, most
New optical fibre gyro measured value sequence w is obtained afterwards；Assuming that w has n measured value, first measured value point is the terminal for measuring track 3, n-th
A measured value point is the initial point for measuring track 3.
D, according to n1=[φ1, θ1, γ1]T, the strap-down matrix that b system ties up to the moment with respect to n is established,Enable initial appearance
The strap-down matrix of state isThe T1For opposite strapdown attitude matrix, i.e. T is relative to n1Attitude matrix,
Calculating is simplified using the concept of opposite strapdown attitude matrix, makes turning for geographic coordinate system, carrier coordinate system and navigational coordinate system
It changes and is simplified.
E, posture is updated using quaternary number J=a+bi+cj+dkThe posture renewal matrix is in T1On the basis of carry out
,Enable measurement starting point coordinate
(x1, y1, z1)=(0,0,0), it is assumed that it is j at the time of the 2nd position Δ t corresponds to, enables φj-φt2=Δ φt2, θj-θt2=Δ
θt2, γj-γt2=Δ γt2, i from 1 to j,θj-θ1=arcsin (T32),φi
=φi-Δφt2* i/j, θi=θi-Δθt2* i/j, γ i=γiΔ γ t2*i/j, this moment with respect to the strap-down matrix of initial attitude
For Tj,
F, with Nj=[φj, θj, γj]TFor new initial attitude, the algorithm for repeating the 5th step completes t-2 and is recycled to ntk
=[φtk, θtk, γtk]T, according to third step it is assumed that n at this timetkEnd of time is n, then final carriage N=[N1, N2,
N3... ..., Nn], finally obtain monitoring curveDam amount of deflection can be calculated by monitoring curve or dam is heavy
Drop.
Embodiment 3:
Such as Fig. 3, the wire type monitoring device seen in a kind of dam sets three axis optical fibre gyro instrument 6, three-axis attitude in measuring instrument 1
Measuring instrument 7, measuring instrument 1 is in the low gradient (gradient is less than 10 °) for being measured 2 internal preset of dam or the measurement track 3 of level
It is interior, when especially Measurement of Dam settles, under upper common hoist engine 49 and the next at the uniform velocity 4 collective effect of hoist engine, survey first
Amount instrument 1 moves to always bottom by the top of measurement track 3, and centre is not artificially paused, during which by upper common hoist engine 49
Artificial take-up, the next at the uniform velocity hoist engine 4 is not worked by 46 unwrapping wire of spool, low-power machine 43, in belt lace rope winding jib 48
Belt lace 44 is fitly involved in motor runner 413 under assistance, makes its internal diameter D1' increase, meanwhile, the tune of belt adjuster 47
It saves device horizontal axis 471 and up adjusts belt 42 along adjusting slideway 475；When measuring instrument 1 reaches the bottom of measurement track 3, motor turns
Taking turns 413 internal diameters increases to D1, 46 unwrapping wire of spool finishes, and disconnects two-way switch and stops 3min~5min.
Two-way switch is got into another side, provides power take-up, upper common volume by the next at the uniform velocity hoist engine 4 at this time
Raise the steady unwrapping wire under human assistance of machine 49；Low-power machine 43 is started to work, and will under the assistance of belt lace rope winding jib 48
Belt lace 44 is recovered in low-power machine runner 430,413 internal diameter D of motor runner1Reduce；The adjuster of belt adjuster 47
Horizontal axis 471 adjusts belt 42 along adjusting slideway 475 down；During the top of 1 return measurement track 3 of measuring instrument, altogether in t
A scheduled position stops 2s--10s, and dsp processor 5 is to three axis optical fibre gyro instrument 6 and three-axis attitude measuring instrument 7 during this
Measured value data synchronization processing, respectively obtain attitude angle matrix nt=[nt1, nt2... ..., ntt] and angular speed w=[w1,
w2... ..., wn]。
The wire type monitoring method seen in dam at this time is similar to Example 2.
The above embodiments are only the preferred technical solution of the present invention, and are not construed as limitation of the invention, this hair
Bright protection scope should be with the technical solution of claim record, technical characteristic in the technical solution recorded including claim
Equivalents are protection scope.Equivalent replacement i.e. within this range is improved, also within protection scope of the present invention.
Claims (8)
1. seeing the wire type monitoring device with appearance in a kind of dam, including measuring instrument, measurement track, at the uniform velocity hoist engine and power
Line, it is characterised in that: dsp processor, fibre optic gyroscope, attitude measurement instrument are equipped in measuring instrument；It is set at the uniform velocity hoist engine
There are bracket of hoisting machine, motor, belt, low-power machine, belt lace, shield, spool, belt adjuster and belt lace row's rope
Device；
It is equipped with T-type measurement track in measured dam surface one end, measuring instrument is placed on T-type measurement track, in measuring instrument
Four base angles be respectively provided with a measuring instrument bracket, the tail portion of measuring instrument bracket be equipped with measuring instrument larger wheels, the bottom of measuring instrument
Portion in undercut type and is respectively arranged in the front and the rear with a measuring instrument small wheels in groove；At the uniform velocity hoist engine is located at measured dam surface
The other end and measurement track extended line on, the power line at the uniform velocity in the spool of hoist engine is fixed on the preceding hook of measuring instrument,
Under the drive of at the uniform velocity hoist engine, measuring instrument can move on measurement track；The dsp processor uses Harvard parallel architecture knot
Structure has coupled the microprocessor of digital processing module, AccessPort unit, and attitude algorithm result automatic storage is in processor
In；
Under the action of measuring instrument small wheels, the measuring instrument larger wheels of measuring instrument two sides are adjacent to T-type measurement track movement；Measuring instrument
The interior angle of the rotation axis face T-type measurement track of larger wheels, the rotation axis of measuring instrument small wheels are set to the bottom of groove, small wheels
Rotation axis be parallel to T-type measurement track top surface.
2. seeing the wire type monitoring device with appearance in dam according to claim 1, it is characterised in that: the measuring instrument exists
When being measured dam internal operation, the bottom for measuring track is equipped with bottom baffle, connects in bottom baffle close to the right and left
The bottom top plate of elasticity there are two being set near bolt hole；It is two neighboring measurement track connecting tube between and measurement track
Connecting tube and bottom baffle between be equipped with recess circle for placing water proof ring, the connecting tube of two neighboring measurement track it
Between, sealed with water proof ring between bottom baffle and the connecting tube for measuring track, recess circle makes to measure the connecting tube of track, bottom
Baffle and water proof ring three, which coincide, to be sealed.
3. seeing the wire type monitoring device with appearance in dam according to claim 1, it is characterised in that: on a left side for water proof ring
Right two sides are symmetrically arranged with the water proof ring ear with water proof ring earhole, connect the measurement track folding of a section in screw bolt passes
The measurement track flanging bolt hole of side bolt hole, water proof ring earhole and next section, or sequentially pass through measurement track flanging bolt hole,
Water proof ring earhole and bottom baffle bolt hole are connected on measurement track with making water proof ring close and firm, are connected in the middle part of measurement track
Messenger wire hole is additionally provided at the top of the water proof ring connect.
4. seeing the wire type monitoring device with appearance in dam according to claim 1, it is characterised in that: the measuring instrument branch
Circular sliding slopes part among frame is elastoplasticity polypropylene material, and both ends are steel, are formed by connecting by spiral lamination.
5. seeing the wire type monitoring device with appearance in dam according to claim 1, it is characterised in that: the measuring instrument exists
When being measured the panel surface operation of dam, attitude measurement instrument is Y-axis inclined direction posture instrument, and fibre optic gyroscope is sensitive measurement
Instrument X-axis；For measuring instrument in measured dam internal operation, attitude measurement instrument is X-axis sideway, Y-axis inclination, Z axis direction of rotation appearance
State instrument；Fibre optic gyroscope is three axis closed loop gyroscopes, the respectively X-axis, Y-axis of sensitive measurement instrument, Z axis.
6. seeing the wire type monitoring device with appearance in dam according to claim 1, it is characterised in that: the at the uniform velocity elevator
Motor runner inner diameter size is adjusted by belt lace and low-power machine in machine, and when spool unwrapping wire, motor runner internal diameter increases；When
Spool take-up, motor runner internal diameter reduce；Belt smooth rotation under the coordination of belt adjuster and belt lace rope winding jib.
7. seeing the wire type monitoring method with appearance in a kind of dam, it is characterised in that: measuring instrument is in measured dam surface programming
Measurement track in travel at the uniform speed under the traction of at the uniform velocity hoist engine, measured value using measuring instrument from endpoint return initial point knot
Fruit, the process are paused in t position short time Δ t (1s~3s) altogether；The list of sensitive carrier X-axis is installed in the measuring instrument
The unidirectional attitude measurement instrument of axis fibre optic gyroscope, sensitive carrier Y-axis, dam appearance wire type monitoring the following steps are included:
A, the endpoint that measuring instrument reaches measurement track stops 1min~5min, and determines carrier coordinate system b system Relative Navigation coordinate
It is the initial attitude θ that n ties up to initial time1；T position is selected on measurement track, each position stops Δ t；
B, dsp processor judges the section Δ t of measuring instrument stop according to measured value, to the attitude measurement instrument of k-th of position Δ t period
Taking with fibre optic gyroscope is worth attitude angle θtkWith angular speed wtk, by attitude angle θtkWith angular speed wtkThe section Δ t is replaced respectively
The measured value of attitude measurement instrument and fibre optic gyroscope, and angular speed is subtracted to the optical fibre gyro measured value in kth -1 to k-th of position section
wtk；
C, the initial point of measurement track is returned to, at this time t-th of position, that is, terminal attitude angle θttWith angular speed wtt, dsp processor
W is subtracted to the optical fibre gyro measured value of t-1 to t surveying rangett-1, finally obtain the sequence w of new optical fibre gyro measured value；
D, by initial attitude θ1, establish the opposite strap-down matrix that b system ties up to the moment with respect to n(x1, y1)=(0,0),
Assuming that being j, θ at the time of the 2nd position Δ t corresponds to1+1=θ1+w1* 1/f, θj=θj-1+wj* 1/f enables θj-θt2=
Δθt2, i is from 1 to j, φi=θi-Δθt2* i/j, φ is most
Whole posture, f are measurement frequency, and υ is the measuring instrument speed of service, and x is measurement track length position, and y is the monitor value at x；
E, with φjFor new initial attitude, repeats D step algorithm completion t-2 and be recycled to θtt, it is assumed that θttEnd of time is n, then most
Whole posture φ=[φ1... ..., φn], It finally obtains
Monitor value y.
8. seeing the wire type monitoring method with appearance in a kind of dam, it is characterised in that: be measured inside dam in advance by measuring instrument
If measurement track in by traveling at the uniform speed under at the uniform velocity hoist engine or the traction of measuring instrument counterweight, measured value using measuring instrument from
It is that endpoint returns initial point as a result, the process is paused in t position short time Δ t (1s~3s) altogether；It is installed in the measuring instrument
Have sensitive carrier X-axis, Y-axis, the three axis optical fibre gyro instrument of Z axis, sensitive carrier X-axis, Y-axis, Z axis three-axis attitude measuring instrument, greatly
In dam see wire type monitoring the following steps are included:
A, the endpoint that measuring instrument reaches measurement track stops 1min~5min, and determines carrier coordinate system b system Relative Navigation coordinate
It is the initial attitude n that n ties up to initial time1=[φ1, θ1, γ1]T；T position is selected on measurement track, each position stops Δ
t；
B, dsp processor judges the section Δ t of measuring instrument stop according to measured value, to the attitude measurement instrument of k-th of position Δ t period
Taking with fibre optic gyroscope is worth attitude angle ntk=[φtk, θtk, γtk]TAnd angular speedBy appearance
State angle ntkWith angular speed wtkThe attitude measurement instrument measured value and fibre optic gyroscope measured value in the section Δ t are replaced respectively, and kth -1 is arrived
The fibre optic gyroscope measured value in k-th of position section subtracts angular speed wtk；
C, the initial point of measurement track is returned to, at this time t-th of position, that is, terminal attitude angle nttWith angular speed wtt, dsp processor
Angular speed w is subtracted to the optical fibre gyro measured value of t-1 to t surveying rangett-1, finally obtain the sequence of new optical fibre gyro measured value
w；
D, according to n1=[φ1, θ1, γ1]T, the strap-down matrix that b system ties up to the moment with respect to n is established,Relatively just
The strap-down matrix of beginning posture is
E, posture is updated using quaternary number J=a+bi+cj+dk Order measures
Point coordinate (x1, y1, z1)=(0,0,0), it is assumed that it is j at the time of the 2nd position Δ t corresponds to, enables φj-φt2=Δ φt2, θj-θt2=Δ
θt2, γj-γt2=Δ γt2, i from 1 to j,θj-θ1=arcsin (T32),φi
=φi-Δφt2* i/j, θi=θi-Δθt2* i/j, γi=γi-Δγt2* i/j is this moment T with respect to the strap-down matrix of initial attitudej,
F, with Nj=[φj, θj, γj]TFor new initial attitude, repeats E step algorithm completion t-2 and be recycled to ntk=[αtk, θtk,
γtk]T, it is assumed that ntkEnd of time is n, then final carriage N=[N1, N2, N3... ..., Nn], finally obtain monitoring curveDam amount of deflection or dam settlement can be calculated by monitoring curve.
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| CN115014285A (en) * | 2022-08-08 | 2022-09-06 | 中电建路桥集团有限公司 | Settlement degree measuring device for bridge construction |
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