CN111551147A - Arch dam surface deformation monitoring system based on GNSS and measuring robot fusion - Google Patents
Arch dam surface deformation monitoring system based on GNSS and measuring robot fusion Download PDFInfo
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Abstract
The invention provides an arch dam surface deformation monitoring system based on the fusion of a GNSS and a measuring robot, which fuses the GNSS and the measuring robot technology, overcomes the defects of complementation of the two methods, and realizes the efficient and accurate automatic observation of the arch dam surface deformation. On the basis, structural information and monitoring data are dynamically associated by combining a BIM technology, a real-time evaluation system comprising various machine learning and other artificial intelligent methods is constructed, a set of arch dam surface deformation monitoring system based on a GNSS and measurement robot technology is formed, workers can be assisted to efficiently finish analysis and evaluation work of arch dam deformation monitoring data, and dam informatization management level is improved.
Description
Technical Field
The invention belongs to the field of dam safety monitoring, and particularly relates to an arch dam surface deformation monitoring system based on fusion of a GNSS and a measuring robot.
Background
The existing arch dam surface deformation monitoring technology mainly adopts manual operation and monitoring of an observation instrument, the monitoring technology adopts observation methods such as a laser vertical method, a front intersection method and a collimation method, and adopts a manual measurement mode to measure, so that the accuracy is high, but the frequency is low, most of the measurement can only reach about once a month, and the influence of the operation technology level of personnel and the measurement environment is large. With the continuous development of various novel monitoring means, the automatic monitoring equipment has the characteristics of reliability and instantaneity because the operation and observation processes of the automatic monitoring equipment are completely automatic, and is developed and applied in the field of arch dam surface deformation monitoring.
In recent years, Global Navigation Satellite Systems (GNSS) have been successfully applied in the fields of dam deformation monitoring and the like due to the characteristics of all weather, short acquisition interval, easy implementation of long-distance accurate positioning and the like. Meanwhile, the GNSS device has good automation and integration performance, can realize complex measurement tasks in a large engineering area, and has superior working performance which is difficult to compare with conventional measurement operation. GNSS, while having numerous advantages, has significant drawbacks in measurement accuracy when applied to arch dam surface deformation monitoring. The highest precision of the current GNSS system on static horizontal measurement is about 3mm, and the highest precision of the current GNSS system on vertical measurement is about 5mm, which is different from the arch dam deformation monitoring precision requirements (radial 2.0mm, tangential 1.0mm and vertical 1.0mm of dam body horizontal displacement) required by the specification.
The measuring robot technology is developed on the basis of a total station, can automatically drive search and autonomously track, and can accurately aim at a target to acquire spatial information such as a target direction, a distance, coordinates and the like. By developing a corresponding control program, the measuring robot can realize the automatic implementation of the measuring task. At present, a high-precision measuring robot can achieve the angle measuring precision of 0.5 percent and the distance measuring precision of about 0.6mm, and can completely meet the observation requirement of the surface deformation of the arch dam. However, the measuring robot has the problem of high requirement on visibility of the measuring environment, and all measuring points are required to be not shielded. By combining the operation characteristics of the arch dam, real-time safety monitoring under extreme weather conditions such as typhoon, rainstorm and the like is particularly important for guaranteeing the safe operation of the dam, and accurate monitoring of the measuring robot is just difficult to realize under the environment.
Disclosure of Invention
In summary, in order to realize real-time monitoring of the deformation condition of the surface of the arch dam, control the real-time displacement and the safety state of the dam, and perform troubleshooting and early warning on possible safety risks, the deformation of the surface of the arch dam needs to be automatically monitored. In consideration of the fact that no arch dam surface deformation observation technology combining the GNSS technology and the measuring robot technology exists at present, the invention provides the fusion of the two technologies, and the advantages of the two technologies are complemented, so that on one hand, all-weather and high-frequency real-time monitoring can be realized, on the other hand, the high-precision measurement of the deformation of key parts of the arch dam can be ensured, and the automation and the intellectualization of the deformation monitoring of the arch dam are further improved.
In order to overcome the defects of the prior art, the method integrates GNSS and measurement robot technologies, and the two methods are complementary to each other, so that the efficient and accurate automatic observation of the surface deformation of the arch dam is realized. On the basis, structural information and monitoring data are dynamically associated by combining a BIM technology, a real-time evaluation system comprising various machine learning artificial intelligence methods is constructed, a set of arch dam surface deformation monitoring system based on a GNSS and measurement robot technology is formed, workers can be assisted to efficiently finish analysis and evaluation work of arch dam deformation monitoring data, and dam informatization management level is improved.
The invention specifically adopts the following technical scheme:
the utility model provides an arch dam surface deformation monitoring system based on GNSS fuses with measuring robot which characterized in that: and importing and fusing the data collected by the GNSS monitoring device and the data collected by the measuring robot monitoring device into the same monitoring software.
Preferably, the signal receiving equipment model of the GNSS monitoring apparatus is Leica GR 50; the total station model of the measuring robot monitoring device is Leica TS 60; the monitoring software is GeoMos software of Leica company. The GNSS and the measuring robot monitoring data can be uniformly collected and managed to be output.
Preferably, the GNSS monitoring device adopts a choke coil antenna and supports a GNSS signal receiving device of a three-star eight-frequency satellite system, and the prism device adopted by the measuring point of the measuring robot monitoring device is arranged on the same observation pillar.
Preferably, the monitoring system comprises:
the dam deformation monitoring module, the data integration module and the intelligent analysis module are connected;
the dam deformation monitoring module comprises a GNSS monitoring device and a measuring robot monitoring device; the two measurement modules are connected into unified monitoring software through a lead and import information into a monitoring information base of the data integration module to form a dam surface deformation acquisition system;
the data integration module comprises: monitoring an information base and an analysis decision base; the monitoring information base stores dam deformation monitoring data, hydrological information and rainfall information and is used for supporting various business applications and analysis applications of dam safety analysis; the analysis decision library is used for storing processing result data of the intelligent analysis module;
the data integration module comprises data applications such as relevant basic data, monitoring data, a model algorithm, an index evaluation system and the like, and provides data support for dam safe operation, dam monitoring and early warning indexes, dam monitoring and predictive analysis and the like;
the intelligent analysis module comprises: the system comprises an original monitoring data preprocessing module, a monitoring data analyzing and judging module and a dam deformation safety evaluation module; the original monitoring data preprocessing module is used for carrying out denoising operation on original monitoring data; the monitoring data analysis and judgment module is used for carrying out trend analysis and measured value judgment on the monitoring data through an HST model method and/or an LSTM method and/or a Gaussian process regression method and/or a convolutional neural network method; the dam deformation safety evaluation module carries out safety evaluation according to the calculation result of the monitoring data analysis and judgment module, determines the safety allowable range of each monitoring point, pays key attention to the deformation key part, evaluates the current dam deformation safety condition and gives an alarm when the measured value exceeds the allowable range;
preferably, the data integration module further comprises: a base database and a geospatial database; the basic database stores dam information and watershed terrain information as basic information applied in aspects of dam safety management, analysis, display and the like; the geographic information basic space database stores dam space information and water conservancy infrastructure branch information and is used for supporting a BIM (building information modeling) model to display on a GIS map and providing basic geographic information data.
Preferably, the monitoring system further comprises: the BIM information module and the multi-source fusion display module are connected with the basic database and the geospatial database;
the BIM information module is used for constructing a BIM model of a dam structure, monitoring equipment and a measuring point BIM model;
the multi-source fusion display module comprises a monitoring equipment information positioning module, a monitoring data report module and a monitoring data early warning and forecasting module; the monitoring equipment information positioning module is used for associating the dam surface deformation monitoring equipment information and the deformation monitoring real-time data with the BIM information model; the monitoring data report module is used for realizing the display of a monitoring data report and the automatic generation of a monitoring weekly report and a monitoring monthly report; the monitoring data early warning and forecasting module is used for sending out monitoring data early warning and forecasting information.
Preferably, the multi-source fusion display module further includes an interface GUI of the system and a trigger module corresponding to the option button, including: the system comprises a deformation abnormal measuring value alarm triggering module, a model roaming triggering module aiming at man-machine interaction, a monitoring point and datum point patrol roaming triggering module, a roaming triggering module for presetting a patrol line, a monitoring data report generation triggering module and an engineering related drawing and basic data query button triggering module.
Preferably, the monitoring data early warning and forecasting module carries out alarm notification on the occurrence of the early warning condition in a pop-up window mode.
As a further technical scheme of the invention, the data integration module can be realized by the structures of a local measurement and control transmission layer, a data center library, a service support layer and an application layer; the in-situ measurement and control transmission layer provides a transmission channel for dam monitoring sensor acquisition software; the data center library comprises a basic database, a geographic space database, a monitoring information library and an analysis decision library and is used for storing and managing all related information of the monitoring system; the service support layer provides system general services and comprises the following steps: unified user management, data exchange, report components, a unified access interface and BIM model service; the application layer comprises application contents of the multi-source fusion display module, including dam three-dimensional informatization, dam safety monitoring and early warning.
As a further technical scheme of the invention, the intelligent analysis module trains and learns the arch dam deformation monitoring data sequence by adopting an HST (high speed transformation) model method, and decomposes the radial displacement of the arch dam into water pressure components according to formation reasonsHTemperature component ofTAging componentθIf the random error of the model is set as, the radial direction of the arch dam is determinedThe displacement is expressed as:
＝H(t)+T(t)+θ(t)+
wherein:H(t) is a water pressure component,T(t) is a temperature component of the temperature,θ(t) is an aging component;
water pressure componentH(t) four factors are selected, namely: x1＝H-H0，X2＝H2-H0 2，X3＝H3-H0 3，X4＝H4-H0 4In which H is0The water level is an initial measured day reservoir water level monitoring value, and H is a current day water level monitoring value;
the temperature component selects multi-period inter-harmonics as factors, and the factors comprise four items:
and
wherein t is0The cumulative days from the initial test day to the first test day of the monitoring sequence, and t is the cumulative days from the first test day to the monitoring day of the monitoring sequence;
age componentθ(t) selecting a polynomial composed of a linear function and a logarithmic function as factors, wherein the two factors are respectively: x9＝θ-θ0，X10＝lnθ-lnθ0Wherein θ is the cumulative number of days from the monitoring day to the initial measuring day divided by 100: theta is t/100 and theta0The cumulative days from the first measured day to the measured day is divided by 100: theta0＝t0/100。
As a further technical solution of the present invention, the processing procedure of the intelligent analysis module comprises the following steps:
step 1: reading monitoring data of corresponding measuring points from a monitoring information base according to the selected analysis monitoring time period;
step 2: and calculating each displacement factor component according to the environment measurement value, constructing an input matrix of the model according to the displacement factor component corresponding to each monitoring time, and forming an output vector according to the actually measured displacement value.
And step 3: converting the input matrix into a training set and a test set according to the size of the selected batch;
and 4, step 4: selecting an analysis model;
and 5: training according to the selected analysis model, and verifying the training effect of the model through a test set;
step 6: and selecting a model with a better training effect to evaluate the measured value, judging whether the deformation is in a safety range according to a criterion, labeling the measuring points beyond the range, and simultaneously giving an alarm by the system.
As a further technical solution of the present invention, the selecting of the analysis model in step 4 of the intelligent analysis module by the multi-source fusion display module through the system interface GUI includes: LSTM models, HST models, gaussian process regression models, and convolutional neural network models.
As a further technical scheme of the invention, the BIM information module stores three-dimensional model information including dam bodies, terrains and other solid structures, and parametric information such as the coordinates of observation points and reference points of monitoring equipment and measuring positions, equipment models and the like, and meets the requirement of the multi-source fusion display module on three-dimensional digital information of a monitoring system.
Compared with the prior art, the invention and the optimized scheme thereof adopt the technical scheme, and have the following technical effects:
1. the arch dam surface deformation monitoring system based on the GNSS and the measuring robot technology provided by the invention integrates the GNSS and the measuring robot technology, the two methods are complementary and insufficient, the characteristics of the GNSS technology, such as all weather, short acquisition interval, no need of communication condition and the like, are combined with the advantage that the measuring robot has high measuring precision and meets the requirement of monitoring specification, and the efficient and accurate automatic observation of the arch dam surface deformation is realized.
2. The arch dam surface deformation monitoring system based on the GNSS and the measurement robot technology, provided by the invention, is used for uniformly managing dam foundation information, BIM model information, monitoring data information, an analysis decision method and the like by constructing an information base of an arch dam monitoring system. The information display, analysis processing, early warning and forecasting and other functional modules of the arch dam surface deformation system are scientifically and orderly managed by developing and fusing a display platform;
3. the arch dam surface deformation monitoring system based on the GNSS and the measurement robot technology can realize high-efficiency analysis and high-precision estimation and evaluation of the arch dam surface deformation data by constructing the intelligent analysis module of a plurality of analysis methods including an artificial intelligence method, and has important engineering practical significance.
Drawings
FIG. 1 is a schematic structural diagram of a monitoring system according to an embodiment of the present invention;
FIG. 2 is a diagram showing the measured displacement process line of the measuring point 1 and the corresponding upstream water level process line in the embodiment of the invention;
FIG. 3 is a diagram of the output result of the LSTM monitoring model of measuring point 1 according to the embodiment of the present invention;
FIG. 4 is a three-dimensional model display platform framework diagram according to an embodiment of the invention.
Detailed Description
The following description of the embodiments of the present invention, with reference to the accompanying drawings, will explain in further detail the principles of operation and operation of the various parts involved.
As shown in fig. 1, the arch dam surface deformation monitoring system based on GNSS and measurement robot technology that this embodiment provided, warp automatic monitoring module, data integration module, intelligent analysis module, BIM information module, multisource fusion display module including the dam, data integration module warp automatic monitoring module, intelligent analysis module, BIM information module, multisource fusion display module respectively and links up, wherein:
the dam deformation monitoring module comprises a GNSS monitoring module and a measuring robot monitoring module, the two measuring modules are connected into unified monitoring software through a lead and import information into a monitoring information base of the data integration module, and a dam surface deformation acquisition system is formed.
The data integration module comprises a basic database, a geographic space database, a monitoring information base and an analysis decision base. The basic database comprises basic attribute libraries such as dam information and watershed terrain, and is a basis for application in aspects such as dam safety management, analysis and display; the geographic information basic space database comprises dam space information and a water conservancy infrastructure subsection information database and is used for supporting the BIM model to display on a GIS map and providing basic geographic information data; the monitoring information base comprises dam safety monitoring data, hydrological information, rainfall information and other monitoring data for supporting various business applications and analysis applications of dam safety analysis. The analysis decision base provides an application comprehensive database for data analysis, model operation, index evaluation and the like. The data integration module comprises data applications such as relevant basic data, monitoring data, a model algorithm, an index evaluation system and the like, and provides data support for safe operation of the dam, dam monitoring and early warning indexes, dam monitoring and predictive analysis and the like.
And the intelligent analysis module comprises an original monitoring data preprocessing module, a monitoring data analysis and judgment module and a dam deformation safety evaluation module. The system comprises an original monitoring data preprocessing module, a data processing module and a data processing module, wherein the original monitoring data preprocessing module is used for carrying out drying operation on an original measured value of monitoring equipment; the monitoring data analysis and judgment module is used for carrying out trend analysis and measured value judgment on the monitoring data and realizing the application of a machine learning method in the field of dam deformation monitoring by applying an HST (high speed railway) model method, an LSTM (least squares) method, a Gaussian process regression method and a convolutional neural network method; and the dam deformation safety evaluation module is used for comprehensively evaluating the safety of the deformation of the dam, determining the safety allowable range of each monitoring point, paying attention to the deformation key part, evaluating the current dam deformation safety condition and giving an alarm when the measured value exceeds the allowable range.
And the BIM information module is used for constructing a BIM model of the dam structure, monitoring equipment and a measuring point BIM model.
The multi-source fusion display module comprises a monitoring equipment information positioning module, a monitoring data report module and a monitoring data early warning and forecasting module; the monitoring equipment information positioning module is used for associating dam surface deformation monitoring equipment information and deformation monitoring real-time data with the BIM information model; the monitoring data report module is used for realizing the display of the monitoring data report and the automatic generation of the monitoring weekly report and the monitoring monthly report.
In this embodiment, the GNSS monitoring apparatus employs a choke antenna and supports a GNSS signal receiving apparatus of a samsung eight-frequency satellite system, and is arranged on the same observation pillar as a prism apparatus employed for measuring a measurement point of the robot monitoring apparatus. The model of signal receiving equipment of the GNSS monitoring module in the dam deformation monitoring module is Leica GR 50. The total station model of the measuring robot monitoring module is Leica TS 60. The monitoring software is GeoMos software developed by Leica company, and can realize the unified collection and management output of monitoring data of the GNSS and the measuring robot.
The data integration module comprises a site measurement and control transmission layer, a data center library, a service support layer and an application layer; the in-situ measurement and control transmission layer provides a transmission channel for dam monitoring sensor acquisition software; the data center library comprises a basic database, a geospatial database, a monitoring information library and an analysis decision library and is used for storing and managing all related information of the monitoring system; the service support layer provides system general services and comprises the following steps: unified user management, data exchange, report components, a unified access interface and BIM model service; the application layer comprises application contents of the multi-source fusion display module, including dam three-dimensional informatization, dam safety monitoring and early warning.
An HST model method is adopted in an intelligent analysis module to train and learn the deformation monitoring data sequence of the arch dam, and radial displacement of the arch dam is decomposed into water pressure components according to formation reasonsHTemperature component ofTAging componentθAssuming that the random error of the model is, the radial displacement of the arch dam can be expressed as:
＝H(t)+T(t)+θ(t)+
wherein:H(t) is a water pressure component,T(t) is a temperature component of the temperature,θ(t) is an aging component;
water pressure componentH(t) four factors are selected, namely: x1＝H-H0，X2＝H2-H0 2，X3＝H3-H0 3，X4＝H4-H0 4In which H is0The water level is an initial measured day reservoir water level monitoring value, and H is a current day water level monitoring value;
the temperature component selects multi-period inter-harmonics as factors, and the factors comprise four items:
and
wherein t is0The cumulative days from the initial test day to the first test day of the monitoring sequence, and t is the cumulative days from the first test day to the monitoring day of the monitoring sequence;
age componentθ(t) selecting a polynomial composed of a linear function and a logarithmic function as factors, wherein the two factors are respectively: x9＝θ-θ0，X10＝lnθ-lnθ0Wherein θ is the cumulative number of days from the monitoring day to the initial measuring day divided by 100: theta is t/100 and theta0The cumulative days from the first measured day to the measured day is divided by 100: theta0＝t0/100。
The intelligent analysis module comprises the following steps:
step 1: reading monitoring data of corresponding measuring points from a monitoring information base according to the selected analysis monitoring time period;
step 2: and calculating each displacement factor component according to the environment measurement value, constructing an input matrix of the model according to the displacement factor component corresponding to each monitoring time, and forming an output vector according to the actually measured displacement value.
And step 3: converting the input matrix into a training set test set according to the size of the selected batch;
and 4, step 4: selecting an analysis model;
and 5: training according to the selected analysis model, and verifying the training effect of the model through a test set;
step 6: and selecting a model with a good training effect to evaluate the measured value, judging whether the deformation is in a safety range according to a criterion, labeling the measuring points beyond the range, and simultaneously giving an alarm by the system.
The analysis model in step 4 of the intelligent analysis module can be selected through a system interface GUI in the multi-source fusion display module, and the method comprises the following steps: LSTM models, HST models, convolutional neural network models, and gaussian regression models.
The BIM information module stores three-dimensional model information including dam bodies, terrains and other solid structures, and parametric information such as observation points, datum points, and bit sub-coordinates of measurement positions and equipment models of monitoring equipment, so that the requirement of the multi-source fusion display module on three-dimensional digital information of a monitoring system is met.
The invention is illustrated below by way of an engineering example:
the maximum dam height of a certain stone-masonry arch dam is 68.8m, the dam top length is 237.42m, the dam type of the dam adopts a parabolic hyperbolic stone-masonry arch dam, fine aggregate concrete is used for building rubble, the upstream and downstream surfaces are provided with cement mortar stone bars, and the surface is subjected to cement mortar pointing.
And various monitoring data and basic attribute information of the masonry stone arch dam are stored in a database corresponding to the data integration module. The display platform constructed by the multi-source fusion display module can realize the operations of inquiring, analyzing, managing, outputting and the like on the monitoring data. Further constructing an engineering BIM information module, comprising: the dam main body structure BIM model and the monitoring system BIM model (including monitoring equipment and a monitoring network model) realize dynamic association of parameter information of each part of engineering and a building information module, and realize space-time state display of monitoring information.
On the basis, the deformation of the dam is analyzed through intelligent analysis options in the multi-source fusion display platform. Taking the measuring point 1 as an example, the specific operation steps are as follows:
step 1: an analysis object is selected. Point 1 is selected by the Point selection box. At this time, the display platform jumps to the position of the measuring point 1 in the BIM model, and displays the information attribute related to the measuring point, including: measuring point arrangement time, equipment model, measured value information, safety state and the like.
Step 2: an analysis environment is formed. Selecting a corresponding monitoring sequence and a corresponding environment variable sequence according to the monitoring data list of the measuring point 1; 100 sets of measurements at station 1 from 2009, 8, to 2019, 1, are selected, and fig. 2 is a graph relating water level and station displacement measurements.
Step 3, executing safety analysis, ① calculating the factor value (X) corresponding to the calculated water pressure component, temperature component and aging component corresponding to each monitoring time according to the monitoring data sequence of the selected measuring point 1 and the corresponding upstream water level and temperature environment quantity1-X10) The method comprises the steps of using the LSTM model as an input matrix of the model, ② dividing the input matrix into a training set (80 measured values) and a testing set (20 measured values), ③ selecting a machine learning model, selecting the LSTM model in the case of training and analyzing, ④ training the model through the training set and the verification set to construct a nonlinear relation between environmental quantities and displacement measured values, and enabling output results of the LSTM model of the measuring point 1 shown in the figure 3 to be well fitted with actual measurement results in a training stage and a prediction stage, so that the constructed LSTM model can effectively represent the relation between displacement of the monitoring point on the surface of the arch dam and change of the environmental quantities.
And 4, step 4: the results of the analysis are summarized. And establishing an early warning limit corresponding to each measuring point according to the difference between the prediction result and the actual measured value of the model of each measuring point and by combining a 3 sigma criterion. Taking the measuring point 1 as an example, the early warning limit according to the 3 sigma criterion is
Wherein sigma is the difference between the predicted value and the measured value of the machine learning method
The standard deviation of (a) brings into the early warning limit of obtaining the measuring point 1
(mm). Meanwhile, analyzing key measuring points of key measuring items, marking a top arch center monitoring point with the maximum displacement of the arch dam and arch shoulder monitoring points related to the bearing capacity of the arch dam, and popping up an alarm prompt box by the system once measured values of the key parts are suddenly changed or abnormal, so as to early warn the safety risk of the arch dam.
And 5: and (4) building a BIM model, and building the BIM model containing the main building structure, the topographic and geomorphic conditions and the deformation monitoring equipment. Designing by adopting different modeling software aiming at different object characteristics, for example, adopting Revit software to model a dam structure; modeling the monitoring equipment by adopting the Inventor software; the terrain was modeled three-dimensionally using Civil3D software.
Step 6: and (5) displaying a three-dimensional model platform, and importing the rendered BIM into the system by a WebGL-based third-party library 3d model technology. And the 3D engine running in the browser creates a GPU accelerated 3D animation scene without depending on any browser plug-in. And various three-dimensional scenes including various objects such as cameras, light and shadow, materials and the like of the system are created. And loading the 3D model and the OBJ and MTL model of the surrounding terrain through an OBJ and MTL loading module. The three-dimensional space previewing effect on the model is realized through functions of zooming, translation, rotation and the like loaded by the three-dimensional space mobile browsing plug-in, and the lighting effect of the 3D model is simulated through the loading of the point light source module. The three-dimensional model display platform framework is shown in fig. 4. The implementation functions and supported formats are as follows:
and the point position upper graph of the sensor is realized by simulating the click effect and material rendering of the three-dimensional space position, and the real-time display of the sensor sensing data, the related information of the sensor and the information of the structure where the sensor is located are displayed. The method has the advantages that general GIS functions such as platform roaming, zooming, selection of primitive points, primitive rectangle, circle and polygon selection, distance measurement, area measurement, scale display, legend display and the like are realized; the generation of dynamic layers is realized, and various thematic maps can be dynamically generated according to the set conditions; the vector map should support SHP files; the platform supports various image output functions of BMP, GIF, JPG, PNG and TIF and a remote sensing image loading display function; the method supports the mutual switching display of the electronic map and the remote sensing map; the platform supports the projection conversion function of the satellite cloud picture and the radar picture; and service data superposition and animation display are supported.
And 7: and summarizing the system platform. And summarizing the analysis results of all the measuring points to a system platform for centralized display, correlating the early warning results with the BIM model of the dam, and labeling and warning the abnormal measuring points at the corresponding model space positions.
The above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made in accordance with the claims of the present invention should be covered by the present invention.
Claims (10)
1. The utility model provides an arch dam surface deformation monitoring system based on GNSS fuses with measuring robot which characterized in that: and importing and fusing the data collected by the GNSS monitoring device and the data collected by the measuring robot monitoring device into the same monitoring software.
2. The system for monitoring deformation of surface of arch dam based on GNSS and surveying robot fusion as claimed in claim 1, wherein: the model of signal receiving equipment of the GNSS monitoring device is Leica GR 50; the total station model of the measuring robot monitoring device is Leica TS 60; the monitoring software is GeoMos software of Leica company.
3. The system for monitoring deformation of surface of arch dam based on GNSS and surveying robot fusion as claimed in claim 1, wherein: the GNSS monitoring device adopts a choke coil antenna and supports a GNSS signal receiving device of a three-satellite eight-frequency satellite system, and the GNSS signal receiving device and a prism device adopted by a measuring point of the measuring robot monitoring device are arranged on the same observation pier.
4. The GNSS and survey robot fusion based arch dam surface deformation monitoring system of claim 1, comprising:
the dam deformation monitoring module, the data integration module and the intelligent analysis module are connected;
the dam deformation monitoring module comprises a GNSS monitoring device and a measuring robot monitoring device;
the data integration module comprises: monitoring an information base and an analysis decision base; the monitoring information base stores dam deformation monitoring data, hydrological information and rainfall information; the analysis decision library is used for storing processing result data of the intelligent analysis module;
the intelligent analysis module comprises: the system comprises an original monitoring data preprocessing module, a monitoring data analyzing and judging module and a dam deformation safety evaluation module; the original monitoring data preprocessing module is used for carrying out denoising operation on original monitoring data; the monitoring data analysis and judgment module is used for carrying out trend analysis and measured value judgment on the monitoring data through an HST model method and/or an LSTM method and/or a Gaussian process regression method and/or a convolutional neural network method; and the dam deformation safety evaluation module carries out safety evaluation according to the calculation result of the monitoring data analysis and judgment module.
5. The GNSS and survey robot fusion based arch dam surface deformation monitoring system of claim 4, wherein: the data integration module further comprises: a base database and a geospatial database; the basic database stores dam information and watershed terrain information; the geographic information basic space database stores dam space information and water conservancy infrastructure branch information.
6. The GNSS and survey robot fusion based arch dam surface deformation monitoring system of claim 5, wherein: further comprising: the BIM information module and the multi-source fusion display module are connected with the basic database and the geospatial database;
the BIM information module is used for constructing a BIM model of a dam structure, monitoring equipment and a measuring point BIM model;
the multi-source fusion display module comprises a monitoring equipment information positioning module, a monitoring data report module and a monitoring data early warning and forecasting module; the monitoring equipment information positioning module is used for associating the dam surface deformation monitoring equipment information and the deformation monitoring real-time data with the BIM information model; the monitoring data report module is used for realizing the display of a monitoring data report and the automatic generation of a monitoring weekly report and a monitoring monthly report; the monitoring data early warning and forecasting module is used for sending out monitoring data early warning and forecasting information.
7. The GNSS and survey robot fusion based arch dam surface deformation monitoring system of claim 6, wherein: the multi-source fusion display module also comprises an interface GUI of the system and a triggering module corresponding to the option button, and the triggering module comprises: the system comprises a deformation abnormal measuring value alarm triggering module, a model roaming triggering module aiming at man-machine interaction, a monitoring point and datum point patrol roaming triggering module, a roaming triggering module for presetting a patrol line, a monitoring data report generation triggering module and an engineering related drawing and basic data query button triggering module.
8. The GNSS and survey robot fusion based arch dam surface deformation monitoring system of claim 6, wherein: and the monitoring data early warning and forecasting module carries out alarm notification on the occurrence of an early warning condition in a pop-up window mode.
9. The GNSS and survey robot fusion based arch dam surface deformation monitoring system of claim 4, wherein:
the intelligent analysis module trains and learns the arch dam deformation monitoring data sequence by adopting an HST model method, and decomposes the radial displacement of the arch dam into water pressure components according to formation reasonsHTemperature component ofTAging componentθAnd if the random error of the model is set as follows, the radial displacement of the arch dam is expressed as:
＝H(t)+T(t)+θ(t)+
wherein:H(t) is a water pressure component,T(t) is a temperature component of the temperature,θ(t) is an aging component;
water pressure componentH(t) four factors are selected, namely: x1＝H-H0，X2＝H2-H0 2，X3＝H3-H0 3，X4＝H4-H0 4In which H is0The water level is an initial measured day reservoir water level monitoring value, and H is a current day water level monitoring value;
the temperature component selects multi-period inter-harmonics as factors, and the factors comprise four items:
and
wherein t is0The cumulative days from the initial test day to the first test day of the monitoring sequence, and t is the cumulative days from the first test day to the monitoring day of the monitoring sequence;
age componentθ(t) selecting a polynomial composed of a linear function and a logarithmic function as factors, wherein the two factors are respectively: x9＝θ-θ0，X10＝lnθ-lnθ0Wherein θ is the cumulative number of days from the monitoring day to the initial measuring day divided by 100: theta is t/100 and theta0The cumulative days from the first measured day to the measured day is divided by 100: theta0＝t0/100。
10. The GNSS and survey robot fusion based arch dam surface deformation monitoring system of claim 4, wherein:
the processing procedure of the intelligent analysis module comprises the following steps:
step 1: reading monitoring data of corresponding measuring points from the monitoring information base according to the selected analysis monitoring time period;
step 2: and calculating each displacement factor component according to the environment measurement value, constructing an input matrix of the model according to the displacement factor component corresponding to each monitoring time, and forming an output vector according to the actually measured displacement value.
And step 3: converting the input matrix into a training set and a test set according to the size of the selected batch;
and 4, step 4: selecting an analysis model;
and 5: training according to the selected analysis model, and verifying the training effect of the model through a test set;
step 6: and (4) selecting a model to evaluate the measured value, judging whether the deformation is in a safety range according to a criterion, labeling the measuring points beyond the range, and simultaneously giving an alarm by the system.
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Application publication date: 20200818 Assignee: Zhongheng Hongrui Construction Group Co.,Ltd. Assignor: FUZHOU University Contract record no.: X2023350000190 Denomination of invention: Arch Dam Surface Deformation monitoring Monitoring System Based on GNSS and Measuring Robot Fusion Granted publication date: 20220308 License type: Common License Record date: 20230412 |