CN112964188A - Method for improving laser automatic measurement precision of tunnel deformation in construction period - Google Patents
Method for improving laser automatic measurement precision of tunnel deformation in construction period Download PDFInfo
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- G—PHYSICS
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- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/02—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses
- G01P15/08—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces using solid seismic masses with conversion into electric or magnetic values
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Abstract
The invention relates to the technical field of tunnel engineering, and discloses a method for improving the automatic laser measurement precision of tunnel deformation during construction, which can identify whether a distance measurement interference event occurs in a current tunnel according to the difference between the front distance measurement and the rear distance measurement and the comparison result of the front deformation rate and the rear deformation rate with a preset threshold value, and further avoid the distance measurement interference influence by abandoning the invalid distance measurement result and delaying the distance measurement, and can sense the deformation condition of the installation position of a laser distance measuring device, namely the tunnel vault position, by introducing the current distance value corresponding to a fixed pile target arranged right below the tunnel vault position in deformation calculation, and further can convert the current coordinates of all the fixed targets under a relatively stable fixed rectangular coordinate system, thereby effectively reducing the tunnel deformation measurement error and improving the automatic laser measurement precision of tunnel deformation during construction, the reliability of the tunnel deformation monitoring result is guaranteed.
Description
Technical Field
The invention belongs to the technical field of tunnel engineering, and particularly relates to a method for improving the automatic laser measurement precision of tunnel deformation in a construction period.
Background
The world records of tunnel construction in China are constantly refreshed from both length and mileage, and accordingly, the tunnel construction method has the safety problem in the construction period, and the tunnel deformation problem is prominent. In recent years, new olympic construction is applied more and more in China, and automatic measurement of tunnel deformation becomes one of the focuses of attention in the tunnel field, namely, with the development of a laser ranging technology and a Programmable Logic Controller (PLC) control technology, the automatic measurement technology of tunnel deformation approaches the visual field of people.
At present, in the existing laser automatic measurement technology for tunnel deformation in a construction period, a target is installed on a tunnel wall, then a laser ranging result from a ranging device to the target is periodically obtained through the laser ranging device located on an installation position, and finally, the tunnel deformation condition is monitored based on the laser ranging result. However, the problem that measurement data errors are caused by constructors and mechanical vehicles in a tunnel during construction period and the problem that measurement accuracy is affected due to vibration during blasting and large smoke dust after blasting immediately are not considered, and the existing deformation calculation method is to calculate tunnel deformation by assuming that the installation position of a laser ranging device is a non-deformation point, but the whole tunnel profile is deformed in the actual situation, so that the measurement data has large errors and the reliability of a tunnel deformation monitoring result is affected.
Disclosure of Invention
In order to solve the problems of large measurement data error and influence on the reliability of a monitoring result in the existing laser automatic measurement technology for tunnel deformation in a construction period, the invention aims to provide a method for improving the precision of laser automatic measurement for tunnel deformation in the construction period, namely, on one hand, whether a distance measurement interference event occurs in a current tunnel or not can be identified according to the difference between front and back distance measurement and the comparison result of front and back deformation rate and a preset threshold value, and then, an invalid distance measurement result can be abandoned and a distance measurement mode can be delayed to avoid the influence of distance measurement interference, on the other hand, in deformation calculation, the deformation condition of the installation position of a laser distance measuring device, namely the tunnel vault position can be sensed by introducing the current distance value corresponding to a fixed pile target arranged right below the tunnel vault position, and then the current coordinates of all the fixed targets under a relatively stable fixed rectangular coordinate system can be obtained through, therefore, the tunnel deformation measurement error can be effectively reduced, the automatic laser measurement precision of tunnel deformation in the construction period is improved, and the reliability of a tunnel deformation monitoring result is guaranteed.
The invention provides a method for improving the automatic laser measurement precision of tunnel deformation in a construction period, which comprises a distance measurement stage and a tunnel deformation calculation stage;
the distance measuring stage comprises fixing pile targets arranged right below the tunnel vault position in the cross section of the tunnel and each target in a plurality of hole wall targets arranged on the wall of the tunnel at intervals:
s101, rotating a laser ranging device from a horizontal position in the cross section of the tunnel until the laser ranging device rotates to an initial target alignment angle corresponding to the target, wherein the laser ranging device is arranged at the vault position of the tunnel of the cross section of the tunnel, and the initial target alignment angle is a rotation angle for rotating the laser ranging device from the horizontal position and enabling the laser ranging device to align to the target when the target is arranged;
s102, acquiring a current distance value from the distance measuring device to a target through the laser distance measuring device;
s103, judging whether G-F is smaller than or equal to a preset distance difference threshold value, wherein G represents the current distance value, F represents a previous distance value, and the previous distance value is a distance value which is recorded in the process of laser ranging through the laser ranging device in the previous time and is from the ranging device to the target;
s104, if yes, further judging
If the current distance value is less than or equal to the preset deformation rate threshold value, otherwise, the current distance value is abandoned, and the step S102 is returned to after waiting for the first preset duration, wherein tGIndicating the measurement time, t, corresponding to said current distance valueFIndicating a measurement time corresponding to the previous distance value;
s105, if yes, recording the current distance value, and otherwise, discarding the current distance value;
the tunnel deformation calculation stage comprises the following steps:
s201, aiming at the hole wall target, calculating to obtain the current coordinate of the hole wall target in a relatively right-angle coordinate system according to the corresponding initial target alignment angle and the current distance value, wherein the relatively right-angle coordinate system is a two-dimensional right-angle coordinate system taking the tunnel vault position as an origin in the tunnel cross section;
s202, converting the current coordinates of the hole wall target in a fixed rectangular coordinate system according to the current coordinates of the hole wall target in the relative rectangular coordinate system and the current distance value corresponding to the fixed pile target, wherein the fixed rectangular coordinate system is a two-dimensional rectangular coordinate system with the fixed pile target as an origin in the cross section of the tunnel;
and S203, according to the current coordinates of all the hole wall targets in the fixed rectangular coordinate system, fitting to obtain a tunnel contour deformation graph reflecting the tunnel deformation condition.
Based on the invention, a new tunnel deformation measurement scheme based on an automatic target-finding and ranging system is provided, namely, on one hand, whether a ranging interference event occurs in the current tunnel can be identified according to the difference between the front and rear ranging and the comparison result of the front and rear deformation rate and a preset threshold value, and then the ranging interference influence can be avoided by abandoning the invalid ranging result and delaying the ranging, on the other hand, in the deformation calculation, the deformation condition of the installation position of the laser ranging device, namely the tunnel vault position, can be sensed by introducing the current distance value corresponding to the fixed pile target arranged under the tunnel vault position, and then the current coordinates of all the fixed targets under a relatively stable fixed rectangular coordinate system can be obtained through conversion, so that the tunnel deformation measurement error can be effectively reduced, and the automatic measurement precision of tunnel deformation in the construction period can be improved, the reliability of the tunnel deformation monitoring result is guaranteed.
In one possible design, the ranging phase further includes:
s301, starting to enter an awakening mode;
s302, obtaining a current acceleration value from an acceleration sensor, wherein the acceleration sensor is arranged at the installation position of the laser ranging device;
s303, judging whether the current acceleration value is smaller than or equal to a first preset acceleration threshold value;
s304, if yes, executing the steps S101 to S105 respectively for each of the fixed pile target and the hole wall targets when the measuring time arrives, otherwise, entering a sleep mode, and returning to execute the step S301 after waiting for a second preset time.
In one possible design, the second predetermined period is between 2 and 4 hours.
In one possible design, acquiring, by the laser ranging device, a current distance value from the ranging device to the target includes:
s1021, acquiring a current acceleration value from an acceleration sensor, wherein the acceleration sensor is arranged at the installation position of the laser ranging device;
s1022, judging whether the current acceleration value is smaller than or equal to a second preset acceleration threshold value or not;
and S1023, if so, immediately acquiring a current distance value from the distance measuring device to the target through the laser distance measuring device, and if not, returning to execute the step S1021 after waiting for a third preset time length.
In one possible design, the preset distance difference threshold is between 1.5 and 1.8 meters, and the preset deformation rate threshold is between 23.53 and 200 mm/day.
In one possible design, at decision
After whether the deformation rate is less than or equal to the preset deformation rate threshold value, the ranging stage further comprises:
after discarding the current distance value, a live view notification message is generated and output.
In one possible design, after the current coordinates of the hole wall target in the fixed rectangular coordinate system are obtained through conversion, the tunnel deformation calculation stage further includes:
and calculating the deformation offset of the hole wall target according to the current coordinate and the initial coordinate of the hole wall target in the fixed rectangular coordinate system, wherein the initial coordinate is obtained by conversion based on the ranging result of the laser ranging device when the hole wall target is arranged, and the coordinate of the hole wall target in the fixed rectangular coordinate system.
In a possible design, after calculating the deformation offset of the hole wall target, the tunnel deformation calculation stage further includes:
the peripheral convergence amount Δ L is calculated as follows:
ΔL＝FF′left,sw+FF′right,sw
of formula (II) FF'left,swRepresenting deformation corresponding to a hole wall target arranged at the left side wallOffset, FF'right,swIndicating the deformation offset corresponding to the hole wall target arranged on the right side wall.
In one possible design, the tunnel deformation calculation stage further includes:
the vault subsidence Δ H is calculated according to the following formula:
ΔH＝dp,0-dp,τ
in the formula (d)p,0Representing the distance value acquired by the laser ranging device and from the ranging device to the target when the spud pile target and the laser ranging device are arranged, dp,τRepresenting the current distance value corresponding to the spud pile target.
In one possible design, the fixing pile target is a concrete pile fixed on the lower step and located on the axis of the tunnel, wherein a steel bar is embedded in the middle of the concrete pile, and a reflective material layer is arranged on the periphery of the exposed part of the concrete pile.
The invention has the beneficial effects that:
(1) the invention provides a new tunnel deformation measuring scheme based on an automatic target-finding distance measuring system, namely, on one hand, whether a distance measurement interference event occurs in the current tunnel can be identified according to the difference between the previous distance measurement and the next distance measurement and the comparison result of the previous deformation rate and the next deformation rate with the preset threshold value, furthermore, the method of discarding invalid ranging results and delaying ranging can be used to avoid the interference effect of ranging, on the other hand, the current distance value corresponding to the fixing pile target arranged right below the tunnel vault position is introduced, so that the deformation condition of the tunnel vault position, which is the installation position of the laser ranging device, can be sensed, and then the current coordinates of all the fixed targets under a relatively stable fixed rectangular coordinate system can be obtained through conversion, therefore, the tunnel deformation measurement error can be effectively reduced, the automatic laser measurement precision of tunnel deformation in the construction period is improved, and the reliability of the tunnel deformation monitoring result is guaranteed;
(2) whether blasting incident takes place in the current tunnel can also be discerned based on acceleration value that acceleration sensor output and the comparative result of predetermineeing the threshold value, and then when the discovery blasting, accessible postpones the working method and avoids leading to producing the problem that the dust influences laser rangefinder precision because of tunnel blasting excavation, can further effectively reduce tunnel deformation measuring error, improves construction period tunnel deformation laser automatic measure precision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic layout diagram of an automatic target-finding ranging system provided by the invention on a tunnel cross section.
Fig. 2 is a schematic cross-sectional structural diagram of a spud pile target provided by the present invention.
Fig. 3 is a schematic top view of a spud pile target according to the present invention.
Fig. 4 is a schematic flow chart of the method for improving the automatic laser measurement accuracy of tunnel deformation in the construction period provided by the invention.
FIG. 5 is an exemplary diagram of coordinate scaling provided by the present invention.
Fig. 6 is a diagram illustrating an example of the calculation of the distortion offset provided by the present invention.
FIG. 7 is a diagram illustrating the calculation of the vault sag and the peripheral convergence according to the present invention.
In the above drawings: 1-a laser ranging device; 2-fixing the pile target; 21-concrete pile; 22-reinforcing steel bars; 23-a layer of light reflecting material; 100-tunnel cross section; 200-lower step.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. Specific structural and functional details disclosed herein are merely illustrative of example embodiments of the invention. This invention may, however, be embodied in many alternate forms and should not be construed as limited to the embodiments set forth herein.
It will be understood that, although the terms first, second, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.
It should be understood that, for the term "and/or" as may appear herein, it is merely an associative relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, B exists alone, and A and B exist at the same time; for the term "/and" as may appear herein, which describes another associative object relationship, it means that two relationships may exist, e.g., a/and B, may mean: a exists independently, and A and B exist independently; in addition, for the character "/" that may appear herein, it generally means that the former and latter associated objects are in an "or" relationship.
It will be understood that when an element is referred to herein as being "connected," "connected," or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may be present. Conversely, if a unit is referred to herein as being "directly connected" or "directly coupled" to another unit, it is intended that no intervening units are present. In addition, other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between … …" versus "directly between … …", "adjacent" versus "directly adjacent", etc.).
It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used herein, specify the presence of stated features, quantities, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, quantities, steps, operations, elements, components, and/or groups thereof.
It should also be noted that, in some alternative designs, the functions/acts noted may occur out of the order noted in the figures. For example, two figures shown in succession may, in fact, be executed substantially concurrently, or the figures may sometimes be executed in the reverse order, depending upon the functionality/acts involved.
It should be understood that specific details are provided in the following description to facilitate a thorough understanding of example embodiments. However, it will be understood by those of ordinary skill in the art that the example embodiments may be practiced without these specific details. For example, systems may be shown in block diagrams in order not to obscure the examples in unnecessary detail. In other instances, well-known processes, structures and techniques may be shown without unnecessary detail in order to avoid obscuring example embodiments.
The automatic target-seeking distance-measuring system based on the present embodiment may include, but is not limited to, a laser distance-measuring device 1, a spud pile target 2 and a hole wall target, wherein the laser distance-measuring device 1 is disposed at a tunnel vault position of a tunnel cross section and can rotate counterclockwise or clockwise on the tunnel cross section, that is, as shown in fig. 1, the laser distance-measuring device 1 is disposed at a tunnel top position D of the tunnel cross section 100. The laser ranging device 1 is used for acquiring and acquiring a distance value from the ranging device to the fixing pile target 2 or the hole wall target, and can be realized by adopting the existing laser ranging equipment.
The spud pile target 2 is arranged directly below the tunnel vault position in the tunnel cross section, i.e. as shown in fig. 1, the spud pile target 2 is arranged at the lower step 200 of the tunnel cross section 100 and on the tunnel axis. Preferably, the fixing pile target 2 is a concrete pile 21, wherein a steel bar 22 is embedded in the middle of the concrete pile 21, and a reflective material layer 23 is arranged on the periphery of the exposed part of the pile. As shown in fig. 2 and 3, the concrete pile 21 has a side length of 20cm by 20cm, a depth of 30cm embedded in the lower step 200, and a height of 20cm exposed from the lower step 200; the length of the reinforcing steel bar 22 is 1m and the diameter is 22 mm. Therefore, by means of the structural design, not only can the installation stability of the fixing pile target 2 be ensured, but also workers or vehicle drivers can be warned by the reflective material layer 23 arranged on the periphery of the exposed part of the pile, so that the fixing pile target 2 is prevented from being damaged or askew, and the stability of the fixing pile target 2 is further ensured. Furthermore, the spud pile target 2 may be implemented by using an existing target structure, for example, by forming an existing target structure on the top surface of the concrete pile 21.
The number of the hole wall targets is several, and the hole wall targets are arranged on the left and right hole walls of the tunnel cross section at intervals, that is, as shown in fig. 1, one hole wall target is arranged at a position G (that is, a left side wall position G), a position F and a position E of the left hole wall of the tunnel cross section 100 at equal intervals respectively (of course, the hole wall targets may also be arranged at intervals in a non-equal interval manner); one hole wall target is respectively arranged at the right hole wall position C, the right hole wall position B and the right hole wall position a (namely, the right side wall position a) of the tunnel cross section 100 at equal intervals (of course, the hole wall targets can also be arranged at intervals in a non-equal interval mode). Furthermore, the target may be implemented in particular using existing target structures.
In order to facilitate the completion of automatic target finding and distance measuring tasks of the laser distance measuring device, the automatic target finding and distance measuring system further comprises a control mainboard and a servo motor, wherein the control mainboard is in communication connection with the output end of the laser distance measuring device; the servo motor is arranged at the tunnel vault position of the tunnel cross section and is in communication connection with the control main board, so that the laser ranging device is driven to rotate anticlockwise or clockwise on the tunnel cross section under the control of the control main board. The control mainboard (not shown in the drawing) can be realized by adopting the existing singlechip mainboard; the servo motor (not shown in the drawings) can be implemented by using an existing servo motor.
As shown in fig. 4 to 7, the method for improving the precision of laser automatic measurement of tunnel deformation during construction based on the automatic target-finding distance-measuring system may include, but is not limited to, a distance-measuring stage and a tunnel deformation calculation stage, and the control main board performs all or part of the steps.
In the ranging stage, the steps S101 to S105 are respectively included but not limited to the following steps for each of the spud pile target and the plurality of hole wall targets.
S101, rotating the laser ranging device from a horizontal position in the cross section of the tunnel until the laser ranging device rotates to an initial target alignment angle corresponding to the target, wherein the initial target alignment angle is a rotation angle for rotating the laser ranging device from the horizontal position and aligning the laser ranging device to the target when the target is arranged.
In the step S101, specifically, the initial target alignment angle may be designed according to a step rotation angle of the servo motor, for example, when the step rotation angle is 15 degrees, for 6 hole wall targets, the corresponding initial target alignment angles may be set to be 15 degrees, 30 degrees, 45 degrees, 135 degrees, 150 degrees, 165 degrees, and the like, so that the laser ranging device is roughly aligned with the hole wall target by the rotation driving of the servo motor. Furthermore, for the spud pile target, since it is located directly below the laser ranging device, the corresponding initial target alignment angle may be 90 degrees.
And S102, acquiring a current distance value from the distance measuring device to a target through the laser distance measuring device.
In the step S102, it is considered that the dust generated by the burst and tunnel blasting excavation affects the precision of the laser ranging, and therefore, the self-identification measurement needs to be completed for whether a tunnel blasting event occurs, that is, the laser ranging device acquires the current distance value from the ranging device to the target, including but not limited to the following steps S1021 to S1023.
S1021, acquiring a current acceleration value from an acceleration sensor, wherein the acceleration sensor is arranged at the installation position of the laser ranging device.
And S1022, judging whether the current acceleration value is smaller than or equal to a second preset acceleration threshold value.
In the step S1022, when the explosion occurs, an inertial force opposite to the vibration direction is generated in the internal mass block of the acceleration sensor, so that the sensitive element inside the sensor generates an electric charge when a force is applied to the sensitive element, and finally, the electric charge output by the acceleration sensor is in direct proportion to the inertial force; further, according to newton's second law, since the force is proportional to the acceleration, the amount of electric charge is proportional to the acceleration, that is, the acceleration sensor outputs an electric charge M ═ dijM β, wherein dijThe piezoelectric coefficient of the acceleration sensor is represented, m represents the mass of the mass block of the acceleration sensor, and beta represents the measured value of the acceleration sensor. Therefore, when the current acceleration value is smaller than or equal to the second preset acceleration threshold value, it can be identified that tunnel blasting does not occur currently, and otherwise, tunnel blasting can be considered to occur.
In step S1022, the second preset acceleration threshold may be obtained in a manner including, but not limited to, the following:
first, the predicted acceleration a is calculated according to the following formula:
wherein pi represents a circumferential rate, V represents a particle vibration speed, N represents a preset coefficient between 0.8 and 5.0, Q represents an explosive amount, R represents a distance from an explosion point to a measuring point, K represents a field coefficient, and γ represents an attenuation coefficient, wherein the field coefficient and the attenuation coefficient can be specifically determined according to a value reference table shown in the following table 1:
TABLE 1 reference table for values of field coefficient K and attenuation coefficient gamma
Secondly, will beThe second predetermined acceleration threshold is initially set at 1/2 for the predicted acceleration a (typically the minimum calculated predicted value is 14.7 m/s)2Therefore, it can be initially set to 7.35m/s2)。
And finally, after data are collected for a period of time, correcting the second preset acceleration threshold according to the actual situation.
And S1023, if so, immediately acquiring a current distance value from the distance measuring device to the target through the laser distance measuring device, and if not, returning to execute the step S1021 after waiting for a third preset time length.
In the step S1023, if it is identified that tunnel blasting does not occur currently, it is defaulted that no dust will affect the precision of laser ranging, and at this time, an accurate current distance value can be acquired immediately; if the tunnel blasting is identified, the generation of dust is determined, and in order to avoid adverse effects, the distance measurement is continued after the dust is dissipated, that is, the procedure returns to step S1021 after waiting for the third preset time period. In addition, since the dust exhaust time of the construction site is closely related to the width of the tunnel, the third preset time period can be determined based on the width of the tunnel, but is not limited to be determined based on the width of the tunnel, that is, when the tunnel span of the cross section of the tunnel is between 7 and 12 meters, the third preset time period is between 2 and 3 hours; or when the tunnel span of the cross section of the tunnel is 12-18 m, the third preset time is 4-5 h.
S103, judging whether | G-F | is smaller than or equal to a preset distance difference threshold value, wherein G represents the current distance value, F represents the previous distance value, and the previous distance value refers to the distance value which is recorded when the laser ranging is carried out through the laser ranging device in the previous time and is from the ranging device to the target.
In the step S103, it is considered that the height of a common person is 1.5 to 1.8 meters, and the heights of the slag car and other vehicle devices are all greater than the height of a human body, so when the preset distance difference threshold is set to a value between 1.5 to 1.8 meters, it can be determined whether a person or a car is currently blocking the target according to a comparison result between | G-F | and the preset distance difference threshold, that is, if the distance difference threshold is smaller than or equal to the preset distance difference threshold, it is determined that no person or a car is blocking the target, otherwise, it is determined that a person or a car is blocking the target.
S104, if yes, further judging
If the current distance value is less than or equal to the preset deformation rate threshold value, otherwise, the current distance value is abandoned, and the step S102 is returned to after waiting for the first preset duration, wherein tGIndicating the measurement time, t, corresponding to said current distance valueFIndicating the measurement time corresponding to the previous distance value.
In the step S104, if it is preliminarily determined that no person or vehicle is obstructing the target, it may be further determined whether a distance measurement interference event occurs (i.e. an event affecting the laser distance measurement result, such as walking or working of field constructors, vehicle machines, etc.), that is, it is considered that the tunnel deformation rate is between 23.53 mm/day and 200 mm/day and the maximum value is 200 mm/day by counting the deformation measurement data of 19 tunnels, so that the preset deformation rate threshold value that can be used for determining whether the distance measurement interference event occurs may be obtained based on the tunnel deformation rate, that is, if it is preliminarily determined that no person or vehicle is obstructing the target
The deformation rate threshold is less than or equal to a preset deformation rate threshold, a distance measurement interference event is not generated by default, otherwise, the distance measurement interference event is considered to be generated, and specifically, the preset deformation rate threshold is between 23.53 mm/day and 200 mm/day.
In the step S104, if it is preliminarily determined that a person or a vehicle is blocking the target, the current distance value is considered to be unreliable, and the distance measurement is performed after the person or the vehicle leaves and the person or the vehicle is discarded, that is, the step S102 is executed after the person or the vehicle waits for the first preset time period. In addition, the first preset time period may be set to 10 minutes or 20 minutes, for example.
And S105, if so, recording the current distance value, and otherwise, discarding the current distance value.
In the step S105, if it is further determined that the distance measurement interference event does not occur, the current distance value is considered to be reliable and recorded for subsequent use in deformation calculation; otherwise, the current distance value is deemed to be unreliable, and the distance measurement is performed again after discarding and waiting for the elimination of the distance measurement interference event, that is, after waiting for the first preset duration, the step S102 is executed again. In addition, after the current distance value is abandoned, a field observation notification message can be generated and output so as to warn/remind relevant personnel to observe whether an accident happens or not on the field.
In the distance measuring stage, the laser distance measuring device may be rotated clockwise or counterclockwise for each of the spud pile target and the plurality of hole wall targets, and the corresponding current distance value is sequentially obtained through the foregoing steps S101 to S105, that is, in clockwise or counterclockwise direction, after completing the automatic target finding and distance measuring task of one target, the laser distance measuring device continues to rotate so as to automatically find and measure the next target, and until completing the automatic target finding and distance measuring task of the last hole wall target, the laser distance measuring device is rotated back to the horizontal position so as to restart a round of automatic target finding and distance measuring tasks for the spud pile target and the plurality of hole wall targets at the next measuring time.
Optimally, in order to avoid the practical problem that the dust generated by tunnel blasting excavation affects the precision of laser ranging, the ranging stage further comprises but is not limited to the following steps S301-S304.
S301, starting to enter an awakening mode.
S302, obtaining a current acceleration value from an acceleration sensor, wherein the acceleration sensor is arranged at the installation position of the laser ranging device.
S303, judging whether the current acceleration value is smaller than or equal to a first preset acceleration threshold value.
S304, if yes, executing the steps S101 to S105 respectively for each of the fixed pile target and the hole wall targets when the measuring time arrives, otherwise, entering a sleep mode, and returning to execute the step S301 after waiting for a second preset time.
The specific technical details of the steps S301 to S304 can be obtained by performing a conventional derivation with reference to the steps S1021 to S1023, which is not described herein again, and specifically, the second preset time period is between 2 to 4 hours. In addition, through the switching control of the sleep mode and the wake-up mode, the energy conservation of the whole measuring system can be facilitated, and the battery endurance time can be delayed.
The tunnel deformation calculation stage includes, but is not limited to, the following steps S201 to S203.
S201, aiming at the hole wall target, calculating to obtain the current coordinate of the hole wall target in a relatively right-angle coordinate system according to the corresponding initial target alignment angle and the current distance value, wherein the relatively right-angle coordinate system is a two-dimensional right-angle coordinate system taking the tunnel vault position as an origin in the tunnel cross section.
In step S201, as shown in fig. 5, on the tunnel left side wall, taking the hole wall target arranged at point G as an example, the corresponding current coordinate (x 'in a relatively rectangular coordinate system with the tunnel vault position D point as an origin may be derived based on geometric knowledge'G,y′G) Can be calculated according to the following formula:
in the formula (d)GRepresenting a current distance value, θ, corresponding to the hole wall target arranged at point GGIndicating the initial target alignment angle corresponding to the hole wall target disposed at point G.
S202, converting the current coordinates of the hole wall target in a fixed rectangular coordinate system according to the current coordinates of the hole wall target in the relative rectangular coordinate system and the current distance value corresponding to the fixed pile target, wherein the fixed rectangular coordinate system is a two-dimensional rectangular coordinate system with the fixed pile target as an origin in the cross section of the tunnel.
In the step S202, as shown in fig. 5, the hole wall targets arranged at the G point on the left hole wall of the tunnel are taken as examples, and may be based onDeriving the corresponding current coordinate (x) in a fixed rectangular coordinate system with the fixed pile target as an origin by using geometric knowledgeG,yG) Can be calculated according to the following formula:
in the formula (d)ORepresenting the current distance value corresponding to the spud pile target.
And S203, according to the current coordinates of all the hole wall targets in the fixed rectangular coordinate system, fitting to obtain a tunnel contour deformation graph reflecting the tunnel deformation condition.
In the step S203, optimally, time stamp information of laser ranging may also be added in the fitting process, so as to obtain a tunnel profile deformation dynamic map.
Preferably, after the current coordinates of the hole wall target in the fixed rectangular coordinate system are obtained through conversion, the tunnel deformation calculation stage further includes: and calculating the deformation offset of the hole wall target according to the current coordinate and the initial coordinate of the hole wall target in the fixed rectangular coordinate system, wherein the initial coordinate is obtained by conversion based on the ranging result of the laser ranging device when the hole wall target is arranged, and the coordinate of the hole wall target in the fixed rectangular coordinate system. As shown in fig. 6, on the tunnel left side wall, taking the hole wall target arranged at point F as an example, the corresponding deformation offset FF' can be calculated according to the following formula, which can be derived based on geometric knowledge:
in the formula (d)O,0Representing an initial distance value, d, corresponding to the spud-pile targetF,0Representing the initial distance value, d, corresponding to the hole wall target arranged at point FO,τRepresenting the current distance value, d, corresponding to the spud-pile targetF,τRepresenting a current distance value, θ, corresponding to the hole wall target disposed at point FFIndicating the initial target alignment angle corresponding to the hole wall target disposed at point F.
Further optimally, as shown in fig. 7, in order to enrich the large deformation monitoring result of the tunnel surrounding rock, the tunnel deformation calculation stage further includes, but is not limited to: the peripheral convergence amount Δ L is calculated as follows:
ΔL＝FF′left,sw+FF′right,sw
of formula (II) FF'left,swRepresents a deformation offset, FF ', corresponding to a hole wall target arranged on the left side wall'right,swIndicating the deformation offset corresponding to the hole wall target arranged on the right side wall.
Optimally, as shown in fig. 7, in order to enrich the large deformation monitoring result of the tunnel surrounding rock, the tunnel deformation calculation stage further includes, but is not limited to: the vault subsidence Δ H is calculated according to the following formula:
ΔH＝dp,0-dp,τ
in the formula (d)p,0Represents the distance value (i.e. the initial distance value corresponding to the spud pile target) acquired by the laser ranging device and from the ranging device to the target when the spud pile target and the laser ranging device are arranged, dp,τRepresenting the current distance value corresponding to the spud pile target.
In addition, the specific steps of the tunnel deformation calculation stage can be executed by a cloud server or an upper computer in communication connection with the cloud server, namely, after the automatic target finding and ranging task is completed, the measured current target alignment angle and the measured current distance value can be bound with target unique identification information, laser ranging timestamp information and the like and uploaded to the cloud server, and then the specific steps and algorithm of the tunnel deformation calculation stage can be executed by the cloud server/the upper computer to obtain a tunnel deformation monitoring result.
Therefore, based on the tunnel deformation measurement scheme of the automatic target-finding distance-measuring system, on one hand, whether a distance-measuring interference event occurs in the current tunnel or not can be identified according to the comparison result of the difference between the previous distance measurement and the next distance measurement and the previous and next deformation rates and the preset threshold value, furthermore, the method of discarding invalid ranging results and delaying ranging can be used to avoid the interference effect of ranging, on the other hand, the current distance value corresponding to the fixing pile target arranged right below the tunnel vault position is introduced, so that the deformation condition of the tunnel vault position, which is the installation position of the laser ranging device, can be sensed, and then the current coordinates of all the fixed targets under a relatively stable fixed rectangular coordinate system can be obtained through conversion, therefore, the tunnel deformation measurement error can be effectively reduced, the automatic laser measurement precision of tunnel deformation in the construction period is improved, and the reliability of a tunnel deformation monitoring result is guaranteed. In addition, whether blasting incident takes place in the current tunnel can also be discerned based on acceleration value that acceleration sensor output and the comparative result of predetermineeing the threshold value, and then when the discovery blasting, accessible postpones the working method and avoids leading to producing the problem that the dust influences laser rangefinder precision because of the tunnel blasting excavation, can further effectively reduce tunnel deformation measuring error, improves construction period tunnel deformation laser automatic measure precision.
The embodiments described above are merely illustrative, and may or may not be physically separate, if referring to units illustrated as separate components; if reference is made to a component displayed as a unit, it may or may not be a physical unit, and may be located in one place or distributed over a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: modifications may be made to the embodiments described above, or equivalents may be substituted for some of the features described. And such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Finally, it should be noted that the present invention is not limited to the above alternative embodiments, and that various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (10)
1. A method for improving the automatic laser measurement precision of tunnel deformation in a construction period is characterized by comprising a distance measurement stage and a tunnel deformation calculation stage;
the distance measuring stage comprises fixing pile targets arranged right below the tunnel vault position in the cross section of the tunnel and each target in a plurality of hole wall targets arranged on the wall of the tunnel at intervals:
s101, rotating a laser ranging device from a horizontal position in the cross section of the tunnel until the laser ranging device rotates to an initial target alignment angle corresponding to the target, wherein the laser ranging device is arranged at the vault position of the tunnel of the cross section of the tunnel, and the initial target alignment angle is a rotation angle for rotating the laser ranging device from the horizontal position and enabling the laser ranging device to align to the target when the target is arranged;
s102, acquiring a current distance value from the distance measuring device to a target through the laser distance measuring device;
s103, judging whether G-F is smaller than or equal to a preset distance difference threshold value, wherein G represents the current distance value, F represents a previous distance value, and the previous distance value is a distance value which is recorded in the process of laser ranging through the laser ranging device in the previous time and is from the ranging device to the target;
s104, if yes, further judging
If the current distance value is less than or equal to the preset deformation rate threshold value, otherwise, the current distance value is abandoned, and the step S102 is returned to after waiting for the first preset duration, wherein tGIs shown and describedThe measurement time t corresponding to the current distance valueFIndicating a measurement time corresponding to the previous distance value;
s105, if yes, recording the current distance value, and otherwise, discarding the current distance value;
the tunnel deformation calculation stage comprises the following steps:
s201, aiming at the hole wall target, calculating to obtain the current coordinate of the hole wall target in a relatively right-angle coordinate system according to the corresponding initial target alignment angle and the current distance value, wherein the relatively right-angle coordinate system is a two-dimensional right-angle coordinate system taking the tunnel vault position as an origin in the tunnel cross section;
s202, converting the current coordinates of the hole wall target in a fixed rectangular coordinate system according to the current coordinates of the hole wall target in the relative rectangular coordinate system and the current distance value corresponding to the fixed pile target, wherein the fixed rectangular coordinate system is a two-dimensional rectangular coordinate system with the fixed pile target as an origin in the cross section of the tunnel;
and S203, according to the current coordinates of all the hole wall targets in the fixed rectangular coordinate system, fitting to obtain a tunnel contour deformation graph reflecting the tunnel deformation condition.
2. The method of claim 1, wherein the ranging phase further comprises:
s301, starting to enter an awakening mode;
s302, obtaining a current acceleration value from an acceleration sensor, wherein the acceleration sensor is arranged at the installation position of the laser ranging device;
s303, judging whether the current acceleration value is smaller than or equal to a first preset acceleration threshold value;
s304, if yes, executing the steps S101 to S105 respectively for each of the fixed pile target and the hole wall targets when the measuring time arrives, otherwise, entering a sleep mode, and returning to execute the step S301 after waiting for a second preset time.
3. The method of claim 2, wherein the second predetermined period of time is between 2 and 4 hours.
4. The method of claim 1, wherein acquiring, by the laser rangefinder apparatus, a current range value from the rangefinder apparatus to the target comprises:
s1021, acquiring a current acceleration value from an acceleration sensor, wherein the acceleration sensor is arranged at the installation position of the laser ranging device;
s1022, judging whether the current acceleration value is smaller than or equal to a second preset acceleration threshold value or not;
and S1023, if so, immediately acquiring a current distance value from the distance measuring device to the target through the laser distance measuring device, and if not, returning to execute the step S1021 after waiting for a third preset time length.
5. The method according to claim 1, wherein the predetermined distance difference threshold is between 1.5 m and 1.8 m, and the predetermined deformation rate threshold is between 23.53mm and 200 mm/day.
6. The method of claim 1, wherein determining is at a point in time
After whether the deformation rate is less than or equal to the preset deformation rate threshold value, the ranging stage further comprises:
generating and outputting a live view notification message after discarding the current distance value.
7. The method of claim 1, wherein after the current coordinates of the hole wall target in the fixed rectangular coordinate system are obtained through conversion, the tunnel deformation calculation stage further comprises:
and calculating the deformation offset of the hole wall target according to the current coordinate and the initial coordinate of the hole wall target in the fixed rectangular coordinate system, wherein the initial coordinate is obtained by conversion based on the ranging result of the laser ranging device when the hole wall target is arranged, and the coordinate of the hole wall target in the fixed rectangular coordinate system.
8. The method of claim 7, wherein after calculating the deformation offset for the hole wall target, the tunnel deformation calculation stage further comprises:
the peripheral convergence amount Δ L is calculated as follows:
ΔL＝FF′left,sw+FF′right,sw
of formula (II) FF'left,swRepresents a deformation offset, FF ', corresponding to a hole wall target arranged on the left side wall'right,swIndicating the deformation offset corresponding to the hole wall target arranged on the right side wall.
9. The method of claim 1, wherein the tunnel deformation calculation phase further comprises:
the vault subsidence Δ H is calculated according to the following formula:
ΔH＝dp,0-dp,τ
in the formula (d)p,0Representing the distance value acquired by the laser ranging device and from the ranging device to the target when the spud pile target and the laser ranging device are arranged, dp,τRepresenting the current distance value corresponding to the spud pile target.
10. The method of claim 1, wherein the fixing pile target is a concrete pile fixed on the lower step and located on the axis of the tunnel, wherein reinforcing bars are embedded in the middle of the concrete pile, and a light reflecting material layer is provided on the periphery of the exposed portion of the pile.
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