CN113847879A - Automatic monitoring system and method for convergence deformation of tunnel section - Google Patents
Automatic monitoring system and method for convergence deformation of tunnel section Download PDFInfo
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Abstract
The invention discloses an automatic monitoring system for tunnel section convergence deformation, which comprises a plurality of groups of receivers, a fan-shaped transmitter and a processing module, wherein the receivers are arranged in the groups of receivers; the plurality of groups of receivers are uniformly distributed on a target point to be detected on the section of the tunnel; the fan-shaped transmitter is arranged at any position on the section of the tunnel and is opposite to the plurality of groups of receivers, and the fan-shaped plane of the fan-shaped transmitter is parallel to the section of the tunnel; a plurality of groups of laser ranging groups are uniformly arranged on the fan-shaped periphery of the fan-shaped transmitter; each group of laser ranging groups points to each group of receivers which are in one-to-one correspondence, and a plurality of groups of laser ranging light rays are respectively emitted to a plurality of groups of receivers which are in correspondence; the processing module is respectively connected with the plurality of groups of laser ranging groups and the plurality of groups of receivers. The method solves the problems of large data volume and low precision of the traditional monitoring method, measures the relative position change of the target point to be detected of the tunnel section, monitors the convergence deformation of the tunnel section in real time, and realizes the automatic monitoring of the clearance deformation of the tunnel primary lining section.
Description
Technical Field
The invention relates to the technical field of tunnel deformation monitoring, in particular to an automatic monitoring system and method for tunnel section convergence deformation.
Background
In the process of constructing the mountain tunnel by the mining method, the deformation of the primary lining of the tunnel is monitored and measured in real time, so that the deformation conditions of surrounding rocks and supports can be mastered, and guidance is provided for controlling the safety of the construction process and secondary lining construction. At present, the tunnel primary lining clearance deformation, vault settlement and arch springing displacement are mainly measured by matching a total station with manual work, the working efficiency is low, and the method conflicts with site construction operation.
At present, the automatic tunnel deformation measurement method is mainly based on a laser radar scanning technology, a laser single-point distance measurement technology and a photogrammetry technology based on image processing.
Patent 1: patent No. CN108253925A discloses a method for analyzing tunnel profile deformation by acquiring point cloud data of a tunnel profile through a three-dimensional laser scanner. However, the three-dimensional laser scanner is high in cost and large in data volume, and has a large error when the point cloud data is fitted and a point cloud profile is extracted, so that the measurement accuracy is difficult to ensure. Meanwhile, data comparison before and after measurement of the specified measuring point cannot be realized.
Patent 2: patent number CN107655420A discloses a method for calculating tunnel deformation by measuring the distance between a laser displacement sensor and a monitoring point and its own angle based on the laser ranging principle. However, the single-point laser ranging is used, the data amount to be processed is small, the data comparison between the designated measuring point and the measurement front and back data can be realized one by one, but a universal measuring device is needed to drive the laser range finder to aim at the measurement reflector arranged at the measuring point, the driving of the laser range finder to accurately aim at the reflector is difficult, and the influence of the aiming error on the measurement precision is large.
Patent 3: patent No. CN110130987A discloses a tunnel convergence deformation monitoring method based on image analysis, which can measure the horizontal relative displacement of two arch springing and the relative displacement of the arch relative to the horizontal measuring line of the arch springing. However, in the image processing technology mode, due to the limitation of the tunnel construction environment on the installation position of the camera and the light condition in the tunnel, the imaging quality is poor, the precision is difficult to guarantee, and meanwhile, the displacement of the measuring point before and after measurement cannot be obtained by the method.
Disclosure of Invention
The invention aims to provide an automatic monitoring system and method for tunnel section convergence deformation. The system aims to solve the problems of large data volume and low precision of the traditional detection method, and measures the relative position change of a target point to be detected of the tunnel section, thereby monitoring the convergence deformation of the tunnel section and realizing the automatic monitoring of the clearance deformation of the tunnel primary lining section.
In order to achieve the above object, the present invention provides an automatic monitoring system for tunnel section convergence deformation, which comprises a plurality of groups of receivers, a fan-shaped transmitter and a processing module; the plurality of groups of receivers are uniformly distributed on a target point to be detected on the section of the tunnel; the fan-shaped transmitter is arranged at any position on the section of the tunnel and is opposite to the plurality of groups of receivers, and the fan-shaped plane of the fan-shaped transmitter is parallel to the section of the tunnel; the position information of the fan-shaped transmitter is known and fixed; a plurality of groups of laser ranging groups are uniformly arranged on the fan-shaped periphery of the fan-shaped transmitter; each group of laser ranging groups points to each group of receivers which are in one-to-one correspondence, and a plurality of groups of laser ranging light rays are respectively emitted to a plurality of groups of receivers which are in correspondence; the processing module is respectively connected with a plurality of groups of laser ranging groups and a plurality of groups of receivers of the fan-shaped transmitter; the processing module regulates and controls a plurality of groups of laser ranging groups of the fan-shaped transmitter to transmit a plurality of groups of laser ranging light rays, a plurality of groups of receivers respectively receive the plurality of groups of laser ranging light rays, a plurality of groups of distance values of the plurality of groups of receivers from the fan-shaped transmitter are read and transmitted back to the processing module for processing, deformation information of a plurality of groups of target points to be measured on the tunnel section at different time points is obtained, and automatic monitoring of convergence deformation of the tunnel section is achieved.
Most preferably, the laser ranging group comprises:
starting to measure a plane;
the inclinometer is arranged at the center of the starting plane;
and the laser range finders are respectively connected with the processing module, are arranged on the circumference with the inclinometer as the circle center at equal intervals and are perpendicular to the start measuring plane.
Most preferably, the number of the plurality of laser rangefinders is at least three.
Most preferably, the receiver is an intelligent receiving target, and comprises a plurality of groups of two-dimensional position sensors, and is used for receiving a plurality of parallel laser ranging light rays emitted by each group of laser ranging groups and reading position information of a projection central point of the laser ranging light rays on each group of receivers, so that a distance value from each group of receivers to the fan-shaped transmitter is obtained.
Most preferably, the fan-shaped emitter has a fan-shaped central angle of 0 ° to 180 °.
The invention provides an automatic monitoring method for convergence deformation of a tunnel section, which is realized based on an automatic monitoring system for the convergence deformation of the tunnel section and comprises the following steps:
step 1: the processing module regulates and controls a plurality of groups of laser ranging groups on the fan-shaped transmitter to respectively transmit a plurality of groups of laser signals;
step 2: the plurality of groups of receivers correspondingly receive a plurality of groups of laser signals one by one, and respectively read a plurality of groups of distance values of a plurality of groups of receivers and a plurality of groups of laser ranging groups, namely a plurality of groups of distance values of a plurality of groups of target points to be measured and the fan-shaped transmitter;
and step 3: transmitting the known position information and a plurality of groups of distance values of the fan-shaped transmitter back to the processing module, and respectively solving a plurality of position information of a plurality of groups of target points to be measured at the current time point;
and 4, step 4: the processing module compares a plurality of pieces of position information of a plurality of groups of target points to be detected at different time points, judges the deformation information of the plurality of groups of target points to be detected on the tunnel section and completes the automatic monitoring of the convergence deformation of the tunnel section.
Most preferably, reading the sets of distance values further comprises the steps of:
step 2.1: a two-dimensional position sensor in the receiver receives and reads a plurality of parallel laser ranging light rays emitted by at least three laser range finders and a plurality of position information of a plurality of laser projection points on the receiver;
step 2.2: determining a receiving plane of the intelligent receiving target according to a plurality of position information of a plurality of laser projection points;
step 2.3: determining the position information of the projection center point of the receiving plane according to the plurality of position information and the receiving plane;
step 2.4: and solving the distance value of each group of receivers from each group of laser ranging groups according to the position information of the projection central point and the known position information of the fan-shaped transmitter.
By using the method, the problems of large data volume and low precision of the traditional monitoring method are solved, the relative position change of the target point to be detected of the tunnel section is measured, the convergence deformation of the tunnel section is monitored in real time, and the automatic monitoring of the clearance deformation of the tunnel primary lining section is realized.
Compared with the prior art, the invention has the following beneficial effects:
1. the automatic monitoring system provided by the invention can automatically monitor the observation point of the tunnel section characteristic, thereby achieving the real-time monitoring of the convergence deformation of the tunnel section.
2. The automatic monitoring system provided by the invention solves the problems of large data volume and low precision of the traditional monitoring method, measures the relative position change of the target point to be detected of the tunnel section, monitors the convergence deformation of the tunnel section in real time, and realizes the automatic monitoring of the clearance deformation of the tunnel primary lining section.
Drawings
FIG. 1 is a schematic diagram of the automated monitoring system according to the present invention;
FIG. 2 is a schematic structural diagram of a sector transmitter provided in the present invention;
FIG. 3 is a schematic structural diagram of a laser ranging group according to the present invention;
FIG. 4 is a schematic structural diagram of a receiver according to the present invention;
FIG. 5 is a first spatial three-dimensional rectangular coordinate system structure diagram of a sector transmitter according to the present invention;
fig. 6 is a structural diagram of a second three-dimensional rectangular coordinate system of a laser ranging group according to the present invention.
Detailed Description
The invention will be further described by the following specific examples in conjunction with the drawings, which are provided for illustration only and are not intended to limit the scope of the invention.
The invention provides an automatic monitoring system for tunnel section convergence deformation, which comprises a plurality of groups of receivers 1, a fan-shaped transmitter 2 and a processing module 3, wherein the groups of receivers are arranged in a tunnel; the plurality of groups of receivers 1 are uniformly distributed on a target point to be measured of the tunnel section 4.
As shown in fig. 2, the fan-shaped transmitter 2 is a planar fan-shaped structure and is arranged at any position on the tunnel section 4, so that the fan-shaped plane is arranged in parallel with the tunnel section 4, and the fan-shaped transmitter 2 can be manually adjusted to be opposite to the plurality of groups of receivers 1; the position information of the fan transmitter 2 is known and fixed; a plurality of groups of laser ranging groups 5 are uniformly arranged on the fan-shaped periphery of the fan-shaped transmitter 2; each group of laser ranging groups 5 points to each group of receivers 1 corresponding to each other one by one, and respectively transmits a plurality of groups of laser ranging light rays to a plurality of groups of corresponding receivers 1.
The processing module 3 is respectively connected with a plurality of groups of laser ranging groups 5 and a plurality of groups of receivers 1 of the fan-shaped transmitter 2; the processing module 3 regulates and controls a plurality of groups of laser ranging groups 5 of the fan-shaped transmitter 2 to transmit a plurality of groups of laser ranging light rays, a plurality of groups of receivers 1 respectively receive the plurality of groups of laser ranging light rays, a plurality of groups of distance values of the plurality of groups of receivers 1 from the fan-shaped transmitter 2 are read and transmitted back to the processing module 3 for processing, deformation information of a plurality of groups of target points to be detected on the tunnel section 4 at different time points is obtained, and automatic monitoring of convergence deformation of the tunnel section 4 is achieved.
In this embodiment, as shown in fig. 1, 4 target points to be measured are selected from a concrete surrounding rock which is primarily lined on a mountain tunnel section 4 constructed by a mining method, and are uniformly distributed on the tunnel section 4 and are respectively located at a vault, a left arch foot and two side arch waists. The fan-shaped emitter 2 is arranged at the right arch foot position of the tunnel section 4; and the spatial position information of the sector emitter 2 at the arch foot position of the tunnel section 4 is known and fixed.
In this embodiment, the number of the target points to be measured is four, the number of the plurality of sets of receivers 1 is four, and the number of the corresponding plurality of sets of laser ranging sets 5 is four; the fan-shaped central angle of the fan-shaped emitter 2 is 0-180 degrees, and is related to the position distribution of a target point to be measured on the tunnel section 4.
As shown in fig. 3, the laser distance measuring group 5 includes a start measuring plane 6, an inclinometer 7 and a plurality of laser distance measuring instruments 8; the inclinometer 7 is arranged at the center of the starting plane 6; the laser range finders 8 are respectively connected with the processing module 3, are arranged on the circumference with the inclinometer 7 as the center of a circle at equal intervals and are perpendicular to the starting measuring plane 6; the number of the laser range finders 8 is at least three; in the present embodiment, the number of the plurality of laser rangefinders 8 is three.
As shown in fig. 4, the receiver 1 is a planar intelligent receiving target and is connected to a target point to be measured on the tunnel cross section 4 through a connecting rod 9 and a cardan shaft 10; the receiver 1 comprises a plurality of groups of two-dimensional position sensors and is used for receiving a plurality of parallel laser ranging light rays emitted by each group of laser ranging groups 5 and reading the position information of the projection central point of the plurality of parallel laser ranging light rays on the intelligent receiving target 1, so that the distance value from the receiver 1 to the fan-shaped emitter 2 is obtained; in this embodiment, each set of laser range finder groups 5 has three laser range finders 8 emitting three parallel laser range finding light rays.
As shown in FIG. 5, the center of the fan-shaped emitter 2 is the first origin O1Perpendicular to the tunnel section, i.e. perpendicular to the fan plane, as X1An axis parallel to the horizontal direction of the tunnel cross-section being Y1Axis, vertical ground direction Z1And the axis establishes a first space three-dimensional rectangular coordinate system.
As shown in fig. 6, the inclinometer is taken as a second origin O2In the starting plane and parallel to X1Axial direction X2Axis in the measuring plane and parallel to Y1Axial direction of Y2Axis, perpendicular to the plane of origin, Z2And the axis establishes a second space three-dimensional rectangular coordinate system.
Then, since the sector transmitter has a planar sector structure and has a constant radius, the system space position transformation based on the first spatial three-dimensional rectangular coordinate system of the sector transmitter and the second spatial three-dimensional rectangular coordinate system of the coordinate system of each laser ranging group is only the change of angle, so that the tilt angle is measured by the inclinometer, and in the case of a known tilt angle, the coordinate transformation in different coordinate systems of the spatial particle a is calculated as follows:
the position coordinate A (x) of the laser projection point emitted to the first group of receivers by the first laser range finder of the first group of laser range finding groups in the second space three-dimensional rectangular coordinate system1,y1,z1) And the position coordinate B (x) of the projection central point emitted to the first group of receivers by the first group of laser ranging groups in the first space three-dimensional rectangular coordinate system2,y2,z2) The conversion relation of (1) satisfies:
B＝(x2,y2,z2)＝R1 -1A(x1,y1,z1)–T1；
wherein R is1、T1The rotation matrix and the translation phasor from the second space three-dimensional rectangular coordinate system to the first space three-dimensional rectangular coordinate system respectively satisfy the following conditions:
wherein,
the angle of the first laser range finder 8 in the first set of laser range finder 5 measured for the inclinometer 7;
the angle of the second laser range finder 8 in the first set of laser range finder 5 measured for the inclinometer 7; l is1Is at the initial positionA laser ranging group 5 is far from the origin O of the three-dimensional rectangular coordinate system in the first space1The distance of (c).
The invention also provides an automatic monitoring method for the convergence deformation of the tunnel section, which is realized based on an automatic monitoring system for the convergence deformation of the tunnel section and comprises the following steps:
step 1: the processing module 3 regulates and controls a plurality of groups of laser ranging groups 5 on the fan-shaped emitter 2 to respectively emit a plurality of groups of laser signals.
Step 2: the plurality of groups of receivers 1 correspondingly receive the plurality of groups of laser signals one by one, and respectively read a plurality of groups of distance values of the plurality of groups of receivers 1 and the plurality of groups of laser ranging groups 5, namely a plurality of groups of distance values of a plurality of groups of target points to be measured and the fan-shaped transmitter 2.
Wherein the plurality of sets of distance values further comprise the steps of:
step 2.1: a two-dimensional position sensor in the receiver 1 receives and reads three parallel laser ranging light rays emitted by three laser range finders 8 in each group of laser ranging groups 5 and three position information of three laser projection points on the receiver 1;
step 2.2: determining a receiving plane of the intelligent receiving target 1 according to three position information of the three laser projection points;
step 2.3: determining the position information of the projection center point of the receiving plane according to the three position information and the receiving plane;
step 2.4: and solving the distance value of each group of receivers 1 to each group of laser ranging groups 5 according to the position information of the projection central point and the known position information of the fan-shaped transmitter 2.
And step 3: the known position information and the groups of distance values of the fan-shaped emitter 2 are transmitted back to the processing module 3, and a plurality of position information of a plurality of groups of target points to be measured at the current time point are solved respectively.
And 4, step 4: the processing module 3 compares a plurality of position information of a plurality of groups of target points to be detected at different time points, and judges deformation information of a plurality of groups of target points to be detected on the tunnel section 4, thereby realizing automatic monitoring of convergence deformation of the tunnel section 4.
The working principle of the invention is as follows:
the processing module regulates and controls a plurality of groups of laser ranging groups on the fan-shaped transmitter to respectively transmit a plurality of groups of laser signals; the plurality of groups of receivers correspondingly receive a plurality of groups of laser signals one by one, and respectively read a plurality of groups of distance values of a plurality of groups of receivers and a plurality of groups of laser ranging groups, namely a plurality of groups of distance values of a plurality of groups of target points to be measured and the fan-shaped transmitter; transmitting the known position information and a plurality of groups of distance values of the fan-shaped transmitter back to the processing module, and respectively solving a plurality of position information of a plurality of groups of target points to be measured at the current time point; the processing module compares a plurality of pieces of position information of a plurality of groups of target points to be detected at different time points, judges the deformation information of the plurality of groups of target points to be detected on the tunnel section and completes the automatic monitoring of the convergence deformation of the tunnel section.
In conclusion, the automatic monitoring system and the method for the convergence deformation of the tunnel section solve the problems of large data volume and low precision of the traditional monitoring method, measure the relative position change of the target point to be detected of the tunnel section, monitor the convergence deformation of the tunnel section in real time, and realize the automatic monitoring of the clearance deformation of the primary lining section of the tunnel.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (7)
1. The utility model provides an automatic monitoring system of tunnel section convergence deformation which characterized in that includes:
the groups of receivers are uniformly distributed on a target point to be detected on the section of the tunnel;
the fan-shaped transmitter is arranged at any position on the section of the tunnel, is opposite to the plurality of groups of receivers, and is provided with a fan-shaped plane parallel to the section of the tunnel; the position information of the fan-shaped transmitter is known and fixed; a plurality of groups of laser ranging groups are uniformly arranged on the fan-shaped periphery of the fan-shaped transmitter; each group of laser ranging groups points to each group of receivers which are in one-to-one correspondence, and a plurality of groups of laser ranging light rays are respectively emitted to a plurality of groups of receivers which are in correspondence;
the processing module is respectively connected with the plurality of groups of laser ranging groups of the fan-shaped transmitter and the plurality of groups of receivers;
the processing module regulates and controls the plurality of groups of laser ranging groups to emit the plurality of groups of laser ranging light rays, the plurality of groups of receivers respectively receive the plurality of groups of laser ranging light rays, a plurality of groups of distance values of the plurality of groups of receivers from the fan-shaped transmitter are read and transmitted back to the processing module for processing, deformation information of a plurality of groups of target points to be measured on the tunnel section at different time points is obtained, and automatic monitoring of convergence deformation of the tunnel section is achieved.
2. The system for automatically monitoring convergence deformation of a tunnel section according to claim 1, wherein the laser ranging group comprises:
starting to measure a plane;
the inclinometer is arranged at the center of the starting plane;
and the laser range finders are respectively connected with the processing module, are arranged on the circumference with the inclinometer as the circle center at equal intervals and are perpendicular to the start measuring plane.
3. The system for automatically monitoring the convergence deformation of a tunnel section of claim 2, wherein the number of the plurality of laser range finders is at least three.
4. The system as claimed in claim 1, wherein the receiver is an intelligent receiving target, and comprises a plurality of sets of two-dimensional position sensors respectively connected to the processing module for receiving a plurality of parallel laser ranging lights emitted by each set of laser ranging groups and reading the position information of the projected center of the laser ranging lights on each set of receiver, so as to obtain the distance value from each set of receiver to the fan-shaped transmitter.
5. The system of claim 1, wherein the fan-shaped emitter has a fan-shaped central angle of 0-180 °.
6. An automatic monitoring method for tunnel section convergence deformation, which is implemented based on the automatic monitoring system for tunnel section convergence deformation of any one of claims 1-5, and comprises the following steps:
step 1: the processing module regulates and controls the plurality of groups of laser ranging groups on the fan-shaped transmitter to respectively transmit a plurality of groups of laser signals;
step 2: the plurality of groups of receivers correspondingly receive the plurality of groups of laser signals one by one, and respectively read a plurality of groups of distance values between the plurality of groups of receivers and the plurality of groups of laser ranging groups, namely a plurality of groups of distance values between the plurality of groups of target points to be measured and the fan-shaped transmitter;
and step 3: transmitting the known position information of the fan-shaped transmitter and the plurality of groups of distance values back to the processing module, and respectively solving a plurality of position information of the plurality of groups of target points to be measured at the current time point;
and 4, step 4: the processing module compares a plurality of pieces of position information of the plurality of groups of target points to be detected at different time points, judges the deformation information of the plurality of groups of target points to be detected on the tunnel section and completes the automatic monitoring of the convergence deformation of the tunnel section.
7. The method for automatically monitoring convergence deformation of a tunnel section according to claim 6, wherein reading the plurality of sets of distance values further comprises the steps of:
step 2.1: a two-dimensional position sensor in the receiver receives and reads a plurality of parallel laser ranging light rays emitted by at least three laser range finders and a plurality of position information of a plurality of laser projection points on the receiver;
step 2.2: determining a receiving plane of the intelligent receiving target according to a plurality of position information of the plurality of laser projection points;
step 2.3: determining the position information of the projection center point of the receiving plane according to the plurality of position information and the receiving plane;
step 2.4: and solving the distance value between each group of receivers and each group of laser ranging groups according to the position information of the projection central point and the known position information of the sector transmitter.
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| CN116697923A (en) * | 2023-08-07 | 2023-09-05 | 石家庄铁道大学 | Full-automatic monitoring method and device for railway tunnel deformation |
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| CN204495732U (en) * | 2015-03-28 | 2015-07-22 | 四川金码科技有限公司 | Do not affect the tunnel health test apparatus of tunnel operation |
| CN105423936A (en) * | 2015-12-04 | 2016-03-23 | 上海市地下空间设计研究总院有限公司 | Full-automatic laser tunnel section convergence instrument and measuring method |
| CN106225682A (en) * | 2016-08-03 | 2016-12-14 | 西安敏文测控科技有限公司 | For large structure body vertical displacement and the measurement apparatus of ground settlement and method |
| CN107655420A (en) * | 2017-11-14 | 2018-02-02 | 云南省建筑科学研究院 | One kind is in built tunnel surrouding rock deformation automated watch-keeping facility |
| CN207365921U (en) * | 2017-11-14 | 2018-05-15 | 云南省建筑科学研究院 | One kind is in built tunnel surrouding rock deformation automated watch-keeping facility |
| US20200077051A1 (en) * | 2018-06-29 | 2020-03-05 | Shenzhen Municipal Design & Research Institute Co., Ltd. | Tunnel deformation monitoring system |
| CN110130987A (en) * | 2019-04-19 | 2019-08-16 | 同济大学 | A kind of tunnel convergence deformation monitoring method based on image analysis |
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| CN108225262A (en) * | 2018-01-04 | 2018-06-29 | 重庆市勘测院 | Tunnel cross-section settlement measuring device, system and method based on submillimeter displacement sensor |
| CN108225262B (en) * | 2018-01-04 | 2023-11-03 | 重庆市勘测院 | Method for monitoring settlement of tunnel section based on submillimeter displacement sensor |
| CN116697923A (en) * | 2023-08-07 | 2023-09-05 | 石家庄铁道大学 | Full-automatic monitoring method and device for railway tunnel deformation |
| CN116697923B (en) * | 2023-08-07 | 2023-10-27 | 石家庄铁道大学 | Full-automatic monitoring method and device for railway tunnel deformation |
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