CN110806193A - Subway tunnel deformation detection system - Google Patents
Subway tunnel deformation detection system Download PDFInfo
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- CN110806193A CN110806193A CN201911186628.4A CN201911186628A CN110806193A CN 110806193 A CN110806193 A CN 110806193A CN 201911186628 A CN201911186628 A CN 201911186628A CN 110806193 A CN110806193 A CN 110806193A
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- subway tunnel
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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
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
Abstract
The invention provides a subway tunnel deformation detection system which comprises a laser radar, an encoder, an inertial navigation system, a synchronous acquisition system and an information fusion module, wherein the laser radar is arranged on a detection vehicle and is used for detecting detection point information of a subway tunnel; the encoder is used for recording the driving mileage of the detection vehicle and generating counting pulses; the inertial navigation system is used for acquiring the speed and position information of the detection vehicle in the relative navigation coordinate; the synchronous acquisition system is used for acquiring detection point information, counting pulses, driving mileage and speed and position information of the detection vehicle in relative navigation coordinates of the subway tunnel; and the information fusion module is used for fusing and analyzing the information acquired by the synchronous acquisition system to obtain the deformation position information and the deformation amount of the subway tunnel. The method can realize accurate measurement of the deformation position of the subway tunnel, and has higher working efficiency compared with the traditional detection mode.
Description
Technical Field
The invention relates to the technical field of measurement and control, in particular to a subway tunnel deformation detection system.
Background
In recent years, the urban rail transit industry in China develops rapidly. However, the safety of train operation is seriously affected by the problems of tunnel deformation and the like after the subway is built. How to rapidly and effectively detect the existing tunnel so as to ensure the operation safety of the subway and become the focus of attention of the majority of rail transit practitioners and technicians.
The deformation of the subway tunnel refers to the local deformation of the tunnel caused by the influences of ground and surrounding building loads, soil disturbance and the like. The existing detection method generally takes manual operation and a small-sized detector as main parts, the detection needs longer time, and the operation efficiency is low.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a subway tunnel deformation detection system.
The invention provides a subway tunnel deformation detection system, which comprises: install laser radar, encoder, inertial navigation system, synchronous acquisition system on detecting the car to and information fusion module, wherein:
the laser radar is installed on a rear top beam of the detection vehicle and used for detecting detection point information of the subway tunnel;
the encoder is used for recording the driving mileage of the detection vehicle and generating counting pulses;
the inertial navigation system is used for acquiring the speed and position information of the detection vehicle in relative navigation coordinates;
the synchronous acquisition system comprises: the system comprises a multi-path signal acquisition module and a synchronous control module which are electrically connected through a control bus, wherein the multi-path signal acquisition module is used for acquiring detection point information, counting pulses, driving mileage and speed and position information of a detection vehicle in relative navigation coordinates of a subway tunnel; the synchronous control module is used for determining the acquisition period of the multi-channel signal acquisition module according to the counting pulse and an external clock so as to realize synchronous acquisition of multi-channel signals;
and the information fusion module is used for fusing and analyzing the detection point information, the counting pulse, the driving mileage and the speed and position information of the detection vehicle in the relative navigation coordinate, which are acquired by the synchronous acquisition system, of the subway tunnel to obtain the deformation position information and the deformation amount of the subway tunnel.
Optionally, the synchronous acquisition system is a PXIe-1082 model chassis of NI corporation, the encoder is electrically connected to the synchronous acquisition system through an I/O bus, the inertial navigation system is a strapdown inertial navigation system and is electrically connected to the synchronous acquisition system through an RS422 bus, and the laser radar is connected to the synchronous acquisition system through an ethernet.
Optionally, the inertial navigation system comprises a gyroscope, an accelerometer; the gyroscope is used for measuring the angular velocity of the detection vehicle, and the accelerometer is used for measuring the acceleration of the detection vehicle; and determining coordinate information of the vehicle in three directions of XYZ according to the angular velocity and the acceleration so as to determine the specific position of the current detection vehicle in a relative coordinate system.
Optionally, a first inertial navigation platform and a second inertial navigation platform are arranged on two sides in front of the detection vehicle; the inertial navigation system is respectively arranged on the first inertial navigation platform and the second inertial navigation platform.
Optionally, the encoder is a programmable incremental encoder for adjusting the frequency of transmission of the count pulses.
Optionally, the system further comprises a computer in communication connection with the laser radar, and Labview software is installed on the computer and used for detecting distance information from the central point of the detection vehicle to the tunnel wall and obtaining coordinate information of the detection point of the tunnel wall in a relative coordinate system through coordinate transformation.
Optionally, the information fusion module is further configured to feed back the corresponding deformation position information of the subway tunnel to the track operator when the deformation amount of the detection point of the subway tunnel exceeds a preset threshold.
Compared with the prior art, the invention has the following beneficial effects:
the subway tunnel deformation detection system provided by the invention has the advantages that the laser radar for detecting tunnel deformation, the encoder for sending counting pulses and recording the driving mileage and the inertial navigation system for realizing positioning in the tunnel are arranged on the detection vehicle, the counting pulses sent by the encoder are received by the synchronous control module, timing is carried out by the external clock, the control bus controls the multi-channel signal acquisition module to synchronously acquire the data of each sensor, the acquired information is transmitted to the information fusion module for analysis, the analysis and fusion of the data of the multiple sensors are realized, the accurate positioning of the deformation position of the subway tunnel is realized, and the working efficiency and the detection precision are high compared with the traditional detection mode.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic structural diagram of a subway tunnel deformation detection system provided by the present invention;
FIG. 2 is a schematic block diagram of a subway tunnel deformation detection system provided by the present invention;
fig. 3 is a schematic flow diagram of subway tunnel deformation detection provided by the present invention.
In the figure:
1-detecting vehicle;
2-an encoder;
3-an inertial navigation system;
4-laser radar.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Fig. 1 is a schematic structural diagram of a subway tunnel deformation detection system provided by the present invention; as shown in fig. 1, the encoder 2 is arranged at the hub of the wheel of the detection vehicle 1 and used for sending counting pulses and recording the driving mileage; the inertial navigation system 3 is arranged on the inertial navigation platforms on the front two sides of the detection vehicle 1 and is used for acquiring specific position information inside the subway tunnel; the laser radar 4 is arranged on the rear side top beam of the detection vehicle 1 and used for detecting the deformation condition of the subway tunnel. The synchronous acquisition system is arranged on the detection vehicle 1; the synchronous acquisition system comprises a multi-channel signal acquisition module and a synchronous control module, wherein the multi-channel signal acquisition module is connected with the synchronous control module through a control bus. The multi-path signal acquisition module is used for acquiring position information of the inertial navigation system 3, acquiring detection point information of a subway tunnel of the laser radar 4 and driving mileage information of the encoder 2; and the synchronous control module receives the counting pulse sent by the encoder 2, performs timing through an external clock, performs synchronous acquisition under the control of a control bus, and transmits acquired information to the information fusion module. And the information fusion module receives information from each sensor, and obtains specific information and deformation quantity of the deformation position of the subway tunnel after data fusion. In addition, the system also comprises a power supply module arranged in the detection vehicle 1 and used for providing electric energy for the detection vehicle 1, the encoder 2, the inertial navigation system 3, the laser radar 4 and the synchronous acquisition system.
In an optional embodiment, the detection vehicle 1 is made of carbon fiber materials, so that the detection vehicle is light in weight, compact in structure, convenient to disassemble and transport due to modularized assembly, and the rated running speed is 15 km/h.
In an optional implementation mode, the laser radar is a laser radar of a SICK LMS111 model, the sampling frequency is 50HZ, the scanning angle can reach 270 degrees, the response time is 40ms, and dynamic detection can be performed on the deformation condition of the subway tunnel.
In an optional implementation mode, the inertial navigation system is a strapdown inertial navigation system, the frequency can reach 200HZ, the inertial navigation system comprises an accelerometer and a gyroscope inside, acceleration information and rotation angular velocity information of the detection vehicle in three axial directions are respectively output, and specific position information of the detection vehicle in a relative navigation coordinate system can be obtained through calculation.
In an optional implementation mode, the encoder selects an IXARC series programmable incremental encoder, the resolution can be adjusted, the encoder obtains displacement information of the track detection vehicle by sending a counting pulse signal, the positioning function is realized by matching with an inertial navigation system, and synchronous acquisition of multi-sensor data is realized by sending the counting pulse to a PXIe-1082 type case as a time signal.
FIG. 2 is a schematic block diagram of a subway tunnel deformation detection system provided by the present invention; as shown in fig. 2, the system includes three sensors, a PXIe chassis and a PC. The PXIe-1082 case contains three data acquisition board cards of NI8234, NI PXIe-8431 and NI PXIe-6361 and a PXI controller, and each acquisition board card acquires data of the sensor and conditions signals. The NI8234 data acquisition board card is connected with a laser radar, the NI PXI-8431 data acquisition board card is connected with an inertial navigation system, the NI PXIe-6361 data acquisition board card is connected with an encoder, a PXI controller receives a counting pulse instruction from the encoder, timing synchronization is carried out through a loaded 100MHZ external clock, a built-in PXI triggers bus control to achieve the synchronous acquisition function, and then data are uploaded to an information fusion module in a PC through a serial port. And after receiving the synchronous data information, the PC records the information of the accurate time, position and the like of the synchronous data acquisition. After the information fusion module receives the multi-sensor synchronous data information, fusion analysis is carried out on the data, the deformation quantity and specific position information of the subway tunnel at each time point are recorded, and when the deformation quantity of the subway tunnel is detected to exceed a preset threshold value, the deformation condition and the specific position where the deformation occurs are output.
Fig. 3 is a schematic flow diagram of subway tunnel deformation detection provided in the present invention, and as shown in fig. 3, a method for applying a deformation strategy of a subway tunnel deformation detection system in the present invention may include:
s1: and acquiring point cloud data.
And the vehicle-mounted laser radar is used for dynamically detecting the subway tunnel, so that real-time point cloud data can be obtained. Since the selected angular resolution is 0.5 °, the scan maximum angle can be 270 °, and 540 hexadecimal data can be obtained per scan cycle. The hexadecimal data is converted into decimal data representing the distance of each obtained scanning point from the center point of the lidar.
S2: and acquiring point cloud coordinates.
A rectangular coordinate system is established by taking a scanning central point of the laser radar as an origin of coordinates, the X-axis direction is the direction horizontal to the ground and vertical to the steel rail, and the Y-axis direction is the direction vertical to the ground. Assuming that the angle of the first scanning point is-45 °, the angle of the last scanning point is 225 °, and the measured decimal data of the nth scanning point is k, the coordinates (x, y) can be obtained by the following formula:
x＝-k cos(-π/4+nπ/360) (1)
y＝k sin(-π/4+nπ/360) (2)
s3: and (4) point cloud data preprocessing.
Because the subway tunnel space is narrow and small, the scanning range is limited, and the original point cloud data contains points which do not belong to the tunnel section, a large amount of noise is contained in the original point cloud data. These non-conventional noises are often referred to as large-scale noises; and other noises caused by the influence of the instrument, the operator and the like are called small-scale noises.
And (3) denoising the large-scale noise which does not belong to the detection range by adopting a filtering algorithm based on statistical characteristics. The statistical filtering algorithm is used for carrying out statistical analysis on the distance between the obtained point cloud data point and the neighborhood point set and removing large-scale noise which does not meet the relevant standard.
And smoothing the point cloud data by adopting a bilateral filtering algorithm, and removing other small-scale noises. Bilateral filtering is a nonlinear filtering method, and the main idea is to use the weighted average of adjacent sampling points to move the position of the current sampling point to the corrected position, thereby continuously adjusting the position and coordinates of the sampling point. The noise in the point cloud data is basically removed after the point cloud data is preprocessed.
S4: and (6) fitting the section of the tunnel.
The track scanned by the laser radar in the subway is approximately 1 three-dimensional spiral line, the point cloud data of 1 scanning period needs to be intercepted before section fitting is carried out, the passing distance of a detection vehicle in the period (40ms) is approximately ignored, the two-dimensional coordinate of the extracted section data point is obtained, and the points are utilized for fitting the section curve. And (3) performing tunnel section fitting on the coordinate points by adopting a least square method, and selecting a fitting polynomial with a proper order to obtain a smoother fitting curve.
S5: and (5) local deformation analysis.
And for the fitted tunnel section curve, local deformation analysis needs to be carried out on the fitted tunnel section curve, the original section curve is compared, and if the fitted section curve is locally obviously changed, the subway tunnel at the position is judged to be locally deformed.
S6: and (5) information fusion and output results.
The information fusion module receives data synchronously acquired by multiple sensors, fuses different types of data by a neural network method, records deformation quantity and position information of the section of the tunnel at each time point, sends out deformation early warning when the deformation quantity exceeds a threshold range, records the deformation degree of the subway tunnel and the specific position in the tunnel, outputs a final result, and facilitates rail transit operators to take measures in advance.
It should be noted that, the steps in the method for detecting deformation of a subway tunnel provided by the present invention may be implemented by using corresponding modules, devices, units, etc. in the system for detecting deformation of a subway tunnel, and those skilled in the art may refer to the technical scheme of the system to implement the steps of the method, that is, the embodiments in the system may be understood as preferred examples of the implementation method, and are not described herein again.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices provided by the present invention in purely computer readable program code means, the method steps can be fully programmed to implement the same functions by implementing the system and its various devices in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices thereof provided by the present invention can be regarded as a hardware component, and the devices included in the system and various devices thereof for realizing various functions can also be regarded as structures in the hardware component; means for performing the functions may also be regarded as structures within both software modules and hardware components for performing the methods.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (7)
1. The utility model provides a subway tunnel deformation detecting system which characterized in that includes: install laser radar, encoder, inertial navigation system, synchronous acquisition system on detecting the car to and information fusion module, wherein:
the laser radar is installed on a rear top beam of the detection vehicle and used for detecting detection point information of the subway tunnel;
the encoder is used for recording the driving mileage of the detection vehicle and generating counting pulses;
the inertial navigation system is used for acquiring the speed and position information of the detection vehicle in relative navigation coordinates;
the synchronous acquisition system comprises: the system comprises a multi-path signal acquisition module and a synchronous control module which are electrically connected through a control bus, wherein the multi-path signal acquisition module is used for acquiring detection point information, counting pulses, driving mileage and speed and position information of a detection vehicle in relative navigation coordinates of a subway tunnel; the synchronous control module is used for determining the acquisition period of the multi-channel signal acquisition module according to the counting pulse and an external clock so as to realize synchronous acquisition of multi-channel signals;
and the information fusion module is used for fusing and analyzing the detection point information, the counting pulse, the driving mileage and the speed and position information of the detection vehicle in the relative navigation coordinate, which are acquired by the synchronous acquisition system, of the subway tunnel to obtain the deformation position information and the deformation amount of the subway tunnel.
2. A subway tunnel deformation detection system as claimed in claim 1, wherein said synchronous acquisition system adopts a PXIe-1082 model chassis of NI corporation, said encoder is electrically connected to said synchronous acquisition system through an I/O bus, said inertial navigation system is a strapdown inertial navigation system and is electrically connected to said synchronous acquisition system through an RS422 bus, and said lidar is connected to said synchronous acquisition system through an ethernet.
3. The subway tunnel deformation detection system of claim 1, wherein said inertial navigation system comprises a gyroscope, an accelerometer; the gyroscope is used for measuring the angular velocity of the detection vehicle, and the accelerometer is used for measuring the acceleration of the detection vehicle; and determining coordinate information of the vehicle in three directions of XYZ according to the angular velocity and the acceleration so as to determine the specific position of the current detection vehicle in a relative coordinate system.
4. The subway tunnel deformation detection system of claim 1, wherein a first inertial navigation platform and a second inertial navigation platform are arranged on two sides in front of the detection vehicle; the inertial navigation system is respectively arranged on the first inertial navigation platform and the second inertial navigation platform.
5. A subway tunnel deformation sensing system as claimed in claim 1, wherein said encoder is a programmable incremental encoder for adjusting the transmission frequency of counting pulses.
6. A subway tunnel deformation detection system as claimed in claim 1, further comprising a computer in communication connection with said laser radar, said computer having Labview software installed thereon for detecting distance information from a central point of said detection vehicle to the tunnel wall, and obtaining coordinate information of detection points of the tunnel wall in a relative coordinate system through coordinate transformation.
7. A subway tunnel deformation detection system as claimed in any one of claims 1-6, wherein said information fusion module is further configured to feed back deformation position information of said corresponding subway tunnel to a track operator when deformation at a detection point of a subway tunnel exceeds a preset threshold.
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| CN110375712A (en) * | 2019-07-12 | 2019-10-25 | 中南大学 | Drift section extracting method, device, equipment and storage medium |
| CN111369609A (en) * | 2020-03-04 | 2020-07-03 | 山东交通学院 | Point cloud curved surface feature constraint-based building local deformation analysis method |
| CN112191580A (en) * | 2020-10-12 | 2021-01-08 | 招商局重庆交通科研设计院有限公司 | Full-automatic cleaning method for tunnel lamp |
| CN113104063A (en) * | 2021-06-09 | 2021-07-13 | 成都国铁电气设备有限公司 | Comprehensive detection system and method for network rail tunnel |
| CN113223168A (en) * | 2021-03-29 | 2021-08-06 | 浙江大学台州研究院 | Method for rapidly modeling three-dimensional shape of tunnel |
| CN113377837A (en) * | 2021-06-15 | 2021-09-10 | 中铁隧道局集团有限公司 | Tunnel disease data acquisition and display system |
| CN113715868A (en) * | 2021-06-17 | 2021-11-30 | 上海应用技术大学 | Remote track detection system based on time-space coupling |
| CN114061535A (en) * | 2021-11-15 | 2022-02-18 | 北京环安工程检测有限责任公司 | Subway tunnel automatic deformation monitoring method and device based on MEMS |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375712A (en) * | 2019-07-12 | 2019-10-25 | 中南大学 | Drift section extracting method, device, equipment and storage medium |
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| CN113223168A (en) * | 2021-03-29 | 2021-08-06 | 浙江大学台州研究院 | Method for rapidly modeling three-dimensional shape of tunnel |
| CN113223168B (en) * | 2021-03-29 | 2023-06-30 | 浙江大学台州研究院 | Method for rapidly modeling three-dimensional shape of tunnel |
| CN113104063A (en) * | 2021-06-09 | 2021-07-13 | 成都国铁电气设备有限公司 | Comprehensive detection system and method for network rail tunnel |
| CN113377837A (en) * | 2021-06-15 | 2021-09-10 | 中铁隧道局集团有限公司 | Tunnel disease data acquisition and display system |
| CN113715868A (en) * | 2021-06-17 | 2021-11-30 | 上海应用技术大学 | Remote track detection system based on time-space coupling |
| CN114061535A (en) * | 2021-11-15 | 2022-02-18 | 北京环安工程检测有限责任公司 | Subway tunnel automatic deformation monitoring method and device based on MEMS |
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