CN114018149A - Vertical direction deformation displacement detection device and detection method thereof - Google Patents

Vertical direction deformation displacement detection device and detection method thereof Download PDF

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Publication number
CN114018149A
CN114018149A CN202111300790.1A CN202111300790A CN114018149A CN 114018149 A CN114018149 A CN 114018149A CN 202111300790 A CN202111300790 A CN 202111300790A CN 114018149 A CN114018149 A CN 114018149A
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CN
China
Prior art keywords
rtk
installation
data
deformation
displacement meter
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Pending
Application number
CN202111300790.1A
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Chinese (zh)
Inventor
邹大鹏
周磊
张煜
赵昆
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Guangzhou Jihangxing Information Technology Co ltd
Guangdong University of Technology
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Guangzhou Jihangxing Information Technology Co ltd
Guangdong University of Technology
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Application filed by Guangzhou Jihangxing Information Technology Co ltd, Guangdong University of Technology filed Critical Guangzhou Jihangxing Information Technology Co ltd
Priority to CN202111300790.1A priority Critical patent/CN114018149A/en
Publication of CN114018149A publication Critical patent/CN114018149A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00Measuring arrangements characterised by the use of electric or magnetic means
    • G01B7/16Measuring arrangements characterised by the use of electric or magnetic means for measuring the deformation in a solid, e.g. by resistance strain gauge
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13Receivers
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42Determining position
    • G01S19/43Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • G01S19/44Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method

Abstract

The invention relates to the technical field of measuring instruments, in particular to a vertical direction deformation displacement detection device which comprises an acquisition mechanism, a data processing mechanism, a power supply mechanism and an installation mechanism, wherein the acquisition mechanism is sequentially divided into a bottom layer acquisition mechanism, a middle layer acquisition mechanism and a top layer acquisition mechanism from bottom to top; the detection device is not interfered by construction in the measurement process, has no artificial measurement error, can eliminate the movement influence error of each end point, and realizes high-precision continuous tracking and monitoring on the deformation and displacement of the high-rise structure; the invention also relates to a detection method of the vertical direction deformation displacement detection device, and by applying the vertical direction deformation displacement detection device, detection data and results of the vertical structure deformation displacement can be obtained through a built-in algorithm.

Description

Vertical direction deformation displacement detection device and detection method thereof
Technical Field
The invention relates to the technical field of measuring instruments, in particular to a device and a method for detecting deformation displacement in the vertical direction.
Background
In geotechnical buildings and hydraulic engineering, vertical high-rise structures comprise urban buildings, water storage dams, mountains, soil layers and the like, the problems of settlement, movement, structural deformation and the like can occur to the vertical high-rise structures along with the lapse of time, deformation and cracking of the high-rise structures can be caused in severe cases, and even fracture and collapse can cause great safety incidents to cause loss. The movement and deformation always change from quantitative to qualitative to cause accidents, so that the development and change of the deformation in the vertical direction of the high-rise building are monitored in real time, and when the deformation caused by various internal or external factors exceeds a specified range, remedial measures are taken in time before loss is caused.
Disclosure of Invention
The invention aims to provide a vertical direction deformation displacement detection device which is not interfered by construction in the measurement process, has no artificial measurement error, can eliminate the movement influence error of each end point and realizes high-precision continuous tracking and monitoring of the deformation and displacement of a high-rise structure;
the invention also aims to provide a detection method of the vertical direction deformation displacement detection device, which can obtain the detection data and the detection result of the vertical structure deformation displacement by using the vertical direction deformation displacement detection device through a built-in algorithm.
In order to achieve the purpose, the invention adopts the following technical scheme:
a vertical direction deformation displacement detection device comprises an acquisition mechanism, a data processing mechanism, a power supply mechanism, an installation mechanism and an RTK base station;
the installation mechanism comprises a plurality of installation pipelines and a connecting structure, the installation pipelines are provided with vertically arranged installation cavities, the upper ends and the lower ends of the outer pipe walls of the installation pipelines are provided with positioning buckles, the connecting structure is provided with a connecting cavity, the installation pipelines penetrate through the connecting cavity, positioning grooves and positioning shoulders are arranged in the connecting cavity, the positioning shoulder bulges are arranged on the cavity walls of the connecting cavity, the positioning grooves are formed in the cavity walls of the connecting cavity, any two installation pipelines are positioned in the vertical direction through the positioning shoulders, and are embedded into the positioning grooves through the positioning buckles to realize the positioning in the circumferential direction;
the collecting mechanism is sequentially divided into a bottom collecting mechanism, a middle collecting mechanism and a top collecting mechanism from bottom to top, the bottom collecting mechanism and the middle collecting mechanism are installed in the installation cavity, the connecting end of the top collecting mechanism is connected with the top end of the middle collecting mechanism, the collecting end of the top collecting mechanism protrudes out of the upper end face of the installation pipeline, the power supply mechanism is arranged at the upper end of the installation pipeline in a penetrating mode, the collecting end of the top collecting mechanism is located above the power supply mechanism, the data processing mechanism is installed above the top collecting mechanism, and the RTK base station is independently erected on one side of the collecting mechanism;
the bottom acquisition mechanism comprises an attitude sensor, the middle acquisition mechanism comprises a plurality of displacement meters and flexible connecting pieces, the top acquisition mechanism comprises an RTK mobile station, the displacement meters are sequentially connected end to end through the flexible connecting pieces to form an array displacement meter, the head end of the array displacement meter is connected with the attitude sensor, and the tail end of the array displacement meter is connected with the RTK mobile station;
the power supply mechanism is used for supplying power to the attitude sensor, the array displacement meter, the RTK mobile station and the data processing mechanism, the attitude sensor, the array displacement meter, the RTK mobile station and the data processing mechanism are electrically connected, the attitude sensor, the array displacement meter and the RTK mobile station are used for acquiring the acquired data of deformation displacement of each position of the object to be detected in the vertical direction and sending the acquired data to the data processing mechanism, and the data processing mechanism is used for receiving the acquired data, calculating to obtain the absolute deformation data of the object to be detected in the vertical direction and sending the absolute deformation data to the upper computer.
Preferably, the mounting distance between the RTK base station and the acquisition mechanism is 1 km; the RTK basic station includes base station antenna, host computer box, dead lever, adjusting screw, telescopic link and A-frame, the through-hole is seted up on the A-frame top, the lower extreme of telescopic link is worn to establish the through-hole is fixed, flexible cavity has been seted up to the telescopic link, the lower extreme of dead lever is worn to establish flexible cavity, the telescopic link can be followed the body of rod of dead lever reciprocates, and passes through adjusting screw fixes, the upper end of telescopic link is fixed in the lower terminal surface of host computer box, install on the host computer box base station antenna, the host computer box with power supply mechanism carries out the electricity and connects.
Preferably, the bottom layer collecting mechanism further comprises an inclination angle sensor support, a connecting pin shaft and a sealing bottom plate, the connecting pin shaft is fixedly mounted on the upper end surface of the inclination angle sensor support, the lower end surface of the inclination angle sensor support is fixedly mounted on the upper surface of the sealing bottom plate, and the sealing bottom plate is adapted to the lower port of the mounting cavity; the tilt angle sensor is fixedly arranged on the tilt angle sensor support, and the head end of the array displacement meter is connected with the tilt angle sensor through the connecting pin shaft.
Preferably, the top layer collecting mechanism further comprises a fixing rod, a fixing clamp and a pressing device, the fixing clamp comprises two fixing holes, any one fixing hole is used for one end of the fixing rod to penetrate through, and the other fixing hole is used for the tail end of the array displacement meter to penetrate through; the other end of the fixing rod is fixedly connected with the pressing device, the RTK mobile station is installed on the upper end face of the pressing device, and the data processing mechanism is installed on the upper end face of the RTK mobile station.
Preferably, the mounting mechanism further comprises a guide member and a locking screw; the guide piece respectively wears to locate the periphery of array displacement meter, and passes through locking screw is fixed, the guide piece orientation the inner wall extension of installation cavity is equipped with the guide pulley arm, rotatable guide pulley is installed to the end of guide pulley arm, the inner wall of installation cavity with the vertical guide pulley groove of having seted up of location shoulder, the guide pulley can imbed the guide pulley groove, the guide pulley with each facial features laminating in guide pulley groove.
Preferably, the RTK mobile station includes a device housing, an upper cover plate, a lower cover plate, a circuit board, and a mobile station antenna, the lower cover plate is fixedly connected to the lower end of the device housing, the upper cover plate is detachably covered on the upper end of the device housing, a storage cavity is formed inside the device housing, a through hole communicated with the outside is formed in the wall of the device housing, and the through hole is communicated with the storage cavity;
the inner plate surface of the lower cover plate is fixedly provided with a circuit board mounting seat, the circuit board is fixedly mounted in the storage cavity through the circuit board mounting seat, and the circuit board is welded with a power supply interface, a USB interface, an RS interface, an antenna interface, an RTK module, a GPS module, a main chip and a power supply module.
Preferably, the power supply mechanism includes control box, solar panel support and lithium cell, the control box is equipped with the installation through-hole, the control box passes through installation through-hole detachably install in the upper end of installation pipeline, solar panel support fixed mounting in the upper surface of control box, solar panel be tilting fixed mounting in the solar panel support, the lithium cell install in the inside of control box, solar panel with carry out the electricity between the lithium cell and connect, the lithium cell is right the acquisition mechanism data processing mechanism with the RTK basic station supplies power.
A detection method of a vertical deformation displacement detection device comprises the following steps: step S1: preparing a bottom layer collecting mechanism, fixedly installing a sealing bottom plate at the lower end of an installation pipeline, and vertically penetrating and fixing the pipeline to be installed end to end through a connecting structure according to a preset length; step S2: drilling a pre-buried hole with a preset depth on a soil layer of an object to be detected, lowering an installation pipeline into the pre-buried hole, reserving 500mm above the surface of the soil layer, and pouring cement mortar between the installation pipeline and the pre-buried hole for backfilling and tamping; step S3: preparing a middle-layer acquisition mechanism, adjusting the direction of the first guide wheel to be fixed, placing the first guide wheel down along the guide wheel groove 611, and sequentially placing each displacement meter below the first guide wheel until the first guide wheel is completely placed into the array displacement meter; step S4: preparing a top layer acquisition mechanism, connecting the tail end of the array displacement meter with a top layer fixed rod through a fixed clamping piece, sequentially installing a pressing device, an RTK mobile station and a data processing system, and then installing an RTK base station at an installation distance of 1km from the RTK mobile station; step S5: the control box penetrates through the installation pipeline and is fixed on the ground, the lithium battery and the solar panel are sequentially installed, and the mechanisms are electrically connected; step S6: the method comprises the steps of starting a detection device, configuring collection frequency, setting a corresponding displacement change threshold, setting the threshold according to the actual situation of an engineering field, starting to collect and transmit real-time data, processing the data by a data processing mechanism 4 according to a built-in algorithm to obtain a real-time data result, transmitting the real-time data to a server through 4G communication, receiving the server data by a client, and sending prompt information to monitoring personnel when the deformation exceeds the threshold.
Preferably, before step S6, the following calibration steps are further included: and after 24 hours of installation, observing whether the data acquired by the attitude sensor 11 tend to be stable, if the attitude data are stable at a certain value, stabilizing the internal structure of the object to be detected, calibrating the position as the zero point of the attitude sensor, and if the attitude data are not stable, continuing to wait until the internal structure of the object to be detected is stabilized for calibration.
Preferably, the built-in algorithm of the data processing means in step S6 includes the following data calculation steps: step A1: calibrating the initial stable state of the attitude sensor as a zero point of the sensor, and establishing a bottom-layer space coordinate system G by taking the zero point as an original point; the array displacement meter is formed by flexibly connecting n displacement meters and comprises n +1 nodes, the first node coordinate of the array displacement meter is used as an origin, and a middle-layer space coordinate system M is established by using the first node as the origin; introducing a local coordinate system D through an RTK base station, wherein the absolute coordinate of a fixed point of the RTK base station in the local coordinate system D is (D, l, k); establishing an RTK relative coordinate system R by taking an RTK base station fixed point as an origin; step A2: reading attitude sensor, arrayData acquisition of the displacement gauge and the RTK rover: the output measurement of the attitude sensor is its amount of movement relative to the index point, expressed as (x) in the underlying spatial coordinate system G0,y0,z0) (ii) a The output measurement of the array displacement meter is the coordinates of the remaining n nodes relative to the first node, expressed as (x) in the mid-level spatial coordinate system Mi,yi,zi) Wherein i is more than 0 and less than or equal to n; the output measurement of the RTK rover station is the relative coordinate with the RTK base station, which is expressed as (x) in the RTK relative coordinate system Rt,yt,zt) (ii) a Step A3: calculating the absolute coordinates δ of the top end pointn(xt,yt,zt) WhereinStep A4: calculating the coordinate epsilon calibrated by any node i in the middle-layer acquisition mechanism relative to the attitude sensor in the bottom-layer space coordinate system Gi(xεi,yεi,zεi) Wherein 0 is<i≤n,xεi=x0+xi,yεi=y0+yi,zεi=z0+zi(ii) a Step A5: the absolute coordinates of the initial calibration point of the attitude sensor can be calculated from the steps A3 to A4Whereinzδ0=zt+h-(z0+zn) (ii) a Step A6: calculating absolute coordinates of any node in middle layer acquisition mechanismWherein 0<i≤n, Step A7: repetition ofSteps A3-A6 calculate the data at each time, e.g., t1Absolute coordinates of any node at time of dayAbsolute coordinates of the base pointAt t2Absolute coordinates of any node at time of dayAbsolute coordinates of the base pointWherein 0<i is less than or equal to n; step A8: in the detection mode of the bottom end point (such as the micro-motion of the rock layer), t is calculated1-t2Deformation delta of bottom end point at time0Wherein
Step A9: in the relative displacement correction mode, the movement influence error of the bottom end point is eliminated, and t is calculated1-t2Deformation amount delta of any node i at any momentiWherein 0 is<i≤n,
Compared with the prior art, the technical scheme has the following beneficial effects:
(1) the detection device can meet the requirements that a, the internal deformation of the object to be detected in the vertical direction is detected, and the relative deformation condition of each layer of the object to be detected is displayed; b. the absolute coordinates of the top end point and the bottom end point and the relative and absolute deformation between the two can be detected; c. the absolute deformation of the interior of the object to be detected in the vertical direction can be detected; accurate deformation data can be obtained through the absolute deformation, so that effective data guarantee is provided for subsequent detection and analysis of the object to be detected, and the real-time relative deformation condition of the object to be detected is fed back to monitoring personnel;
(2) the detection method can comprehensively process the collected data of the array displacement meter, the attitude sensor and the RTK measuring instrument according to the built-in algorithm program of the data processing mechanism, compared with the prior art, the algorithm fuses a plurality of groups of collected data to enable the measuring result to be more accurate and reliable, and the absolute deformation of each layer in the vertical direction and the state data of the rock layer are obtained.
Drawings
Fig. 1 is a schematic view of a vertical direction deformation displacement detecting apparatus of the present invention;
FIG. 2 is a schematic diagram of the vertical direction deformation displacement detecting device of the present invention;
FIG. 3 is a schematic structural view of a vertical direction deformation displacement detecting device of the present invention;
FIG. 4 is a schematic cross-sectional view of a vertical direction deformation displacement detecting device of the present invention;
FIG. 5 is a schematic structural diagram of the collecting mechanism of the vertical deformation displacement detecting device of the present invention;
FIG. 6 is a partial enlarged view of area A in FIG. 5;
FIG. 7 is a partial enlarged view of area B in FIG. 5;
fig. 8 is a schematic structural view of a pressing means of the vertical direction deformation displacement detecting means of the present invention;
FIG. 9 is a schematic diagram of the structure of an RTK rover station of the vertical displacement detector assembly of the present invention;
fig. 10 is a schematic top view of an installation pipe of the vertical deformation displacement detecting device of the present invention;
fig. 11 is a schematic structural view of a connecting structure of the vertical direction deformation displacement detecting device of the present invention;
fig. 12 is an installation diagram of a detection method of the vertical direction deformation displacement detection device of the present invention;
in the drawings: the device comprises a bottom acquisition mechanism 1, an attitude sensor 11, an inclination sensor bracket 12, a connecting pin shaft 13, a sealing bottom plate 14, a middle acquisition mechanism 2, a displacement meter 21, a flexible connecting piece 22, a connecting hose 221, a connecting flange 222, a top acquisition mechanism 3, an RTK mobile station 31, a fixing rod 32, a fixing clamping piece 33, a pressing device 34, a device shell 311, an upper cover plate 312, a lower cover plate 313, a circuit board 314, a mobile station antenna 315, a circuit board mounting seat 316, a mounting cover plate 341, a mounting box 342, a fixing cover 343, a telescopic rod 344, a fastening nut 345, a fixing sleeve 346, a data processing mechanism 4, a power supply mechanism 5, a control box 51, a solar panel 52, a solar panel bracket 53, a lithium battery 54, a mounting mechanism 6, a guide wheel groove 60, a mounting pipeline 61, a connecting structure 62, a guide piece 63, a guide wheel arm 64, a guide wheel 65, a mounting cavity 610, a positioning buckle 611, a connecting cavity 620, The positioning device comprises a positioning groove 621, a positioning shoulder 622, an RTK base station 7, a base station antenna 71, a main machine box 72, a fixing rod 73, an adjusting screw 74, a telescopic rod 75, a triangular support 76, a power supply interface a, a USB interface b, an RS485 interface c, an antenna interface d, an RTK module e, a GPS module f, a main chip g, a power supply module h and a mounting distance L.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 11, a vertical direction deformation displacement detection device includes an acquisition mechanism, a data processing mechanism 4, a power supply mechanism 5, an installation mechanism 6, and an RTK base station 7;
the mounting mechanism 6 comprises a plurality of mounting pipelines 61 and a connecting structure 62, the mounting pipelines 61 are provided with vertically arranged mounting cavities 610, the upper ends and the lower ends of the outer pipe walls of the mounting pipelines 61 are respectively provided with a positioning buckle 611, the connecting structure 62 is provided with a connecting cavity 620, the connecting cavity 620 is used for the mounting pipelines 61 to penetrate, a positioning groove 621 and a positioning shoulder 622 are arranged in the connecting cavity 620, the positioning shoulder 622 is convexly arranged on the cavity wall of the connecting cavity 620, the positioning groove 621 is arranged on the cavity wall of the connecting cavity 620, any two mounting pipelines 61 are positioned in the vertical direction through the positioning shoulder 622, and are embedded into the positioning groove 621 through the positioning buckle 611 to realize circumferential positioning;
the collecting mechanism is sequentially divided into a bottom collecting mechanism 1, a middle collecting mechanism 2 and a top collecting mechanism 3 from bottom to top, the bottom collecting mechanism 1 and the middle collecting mechanism 2 are installed in a cavity of the installation mechanism 6, a connecting end of the top collecting mechanism 3 is connected with the top end of the middle collecting mechanism 2, a collecting end of the top collecting mechanism 3 protrudes out of the upper end face of the installation mechanism 6, a collecting end of the top collecting mechanism 3 is located above the power supply mechanism 5, the data processing mechanism 4 is installed above the top collecting mechanism 3, and the RTK base station 7 is independently erected on one side of the collecting mechanism;
the bottom acquisition mechanism 1 comprises an attitude sensor 11, the middle acquisition mechanism 2 comprises a plurality of displacement meters 21 and a flexible connecting piece 22, the top acquisition mechanism 3 comprises an RTK mobile station 31, the displacement meters 21 are sequentially connected end to end through the flexible connecting piece 22 to form an array displacement meter, the head end of the array displacement meter is connected with the attitude sensor 11, and the tail end of the array displacement meter is connected with the RTK mobile station 31;
the power supply mechanism 5 is used for supplying power to the attitude sensor 11, the array displacement meter, the RTK mobile station 31 and the data processing mechanism 4, the attitude sensor 11, the array displacement meter, the RTK mobile station 31 and the data processing mechanism 4 are electrically connected, the attitude sensor 11, the array displacement meter and the RTK mobile station 31 are used for collecting the collected data of deformation displacement of each position in the vertical direction of the object to be detected and sending the collected data to the data processing mechanism 4, and the data processing mechanism 4 is used for receiving the collected data, calculating to obtain the absolute deformation data of the object to be detected in the vertical direction and sending the absolute deformation data to an upper computer.
The deformation displacement detection device for each layer in the vertical direction of an object to be detected is formed by combining the bottom layer acquisition mechanism 1, the middle layer acquisition mechanism 2 and the top layer acquisition mechanism 3, and is installed in the installation cavity 610 of the installation pipeline, so that the deformation displacement detection device is not interfered by construction in the measurement process, has no artificial measurement error, can eliminate the movement influence error of each end point, can realize the lengthening of the length and the fixing of the installation through the connecting structure 62 for the installation pipeline 61, is convenient to operate, and realizes the high-precision continuous tracking and monitoring of the deformation and the displacement of high-rise structures with various heights; .
The invention can obtain the relative deformation displacement between each layer in the object to be measured based on the array displacement meter, and can calculate and obtain the absolute coordinate position of each layer in the object to be measured and the absolute coordinate position of the bottom end based on the absolute coordinate positions of the top end points corrected by the RTK mobile station 31 and the RTK base station 7; based on the calibration comparison of the attitude sensor 11 at the bottom end point and the internal sensor of the first node of the array displacement meter, the accurate relative deformation displacement between each layer in the object to be measured can be calculated; by comparing the variation amounts of the above three sensing units: when the absolute position variation of the top end point, the deformation displacement of the tail end point of the array displacement meter relative to the head end point and the variation of the bottom attitude sensor 11 and the sensor of the head node of the array displacement meter are the same, the fact that the bottom end point has no absolute deformation displacement is shown; when the two are different, the absolute deformation displacement of the bottom end point is represented; correcting the variation of the sensors of the first node of the array displacement meter and the bottom attitude sensor 11, and then correcting and calculating the relative displacement of each layer; after correction, the displacement deformation of the bottom end point is obtained by subtracting the accumulated relative displacement deformation of each layer from the absolute displacement of the bottom end point, and the displacement deformation is used for monitoring the micromotion and the micro deformation (such as a rock layer) of the bottom.
The invention carries out deformation displacement real-time detection on an object to be detected by combining three groups of sensors, namely the attitude sensor 1, the array displacement meter and the RTK mobile station 31, the attitude sensor 11 has small volume and high precision, is provided with an accelerometer, a three-axis electronic compass and other motion sensors to improve the detection precision, has full-angle blind-area-free three-dimensional attitude orientation data output, is convenient to install to the bottom of a rock layer, and can accurately monitor bottom micro motion and micro deformation; the array displacement meter has high precision, all sections are connected through the flexible connecting piece 22, the displacement meters 21 can be conveniently spliced, relative movement in any range can be realized among the sections, deformation and displacement in the length range of each section can be accurately detected, and the requirement of the detection height of any object to be detected can be met; the RTK rover station 31 has the characteristics of compact structure, small volume, high precision and no error accumulation, and is convenient to mount on the top of the detection device. To be further described, the flexible connection member 22 includes a connection hose 221 and a connection flange 222, the connection flange 222 is fixed to two ends of the connection hose 221, the other end of the connection flange 222 is used for connecting the displacement meter 21, and the displacement meter 21 includes a displacement sensor. The displacement meters 21 are flexibly connected with the connecting flange 222 through the connecting hose 221, and can accurately measure the vertical micro displacement inside the object to be measured.
To explain further, the mounting distance L between the RTK base station 7 and the acquisition mechanism is 1 km; RTK base station 7 includes base station antenna 71, host computer box 72, dead lever 73, adjusting screw 74, telescopic link 75 and A-frame 76, the through-hole is seted up on the top of A-frame 76, the lower extreme of telescopic link 75 wears to establish the through-hole and fixed, telescopic link 75 has seted up flexible cavity, the lower extreme of dead lever 73 wears to establish flexible cavity, telescopic link 75 can follow the body of rod of dead lever 73 reciprocates, and passes through adjusting screw 74 fixes, the upper end of telescopic link 75 is fixed in the lower terminal surface of host computer box 72, install on the host computer box 72 base station antenna 71, host computer box 72 with power supply mechanism 5 carries out the electricity and connects.
The RTK base station 7 is fixed on a soil layer through concrete, the reliability of the structure is guaranteed under extreme weather conditions such as strong wind, the height of the main box 72 is adjustable through the telescopic rod 75, so that the signal received by the base station antenna 70 of the RTK base station 7 is in the best state, the installation distance between the RTK base station 7 and the acquisition mechanism is limited to 1km, and the strength of the signal received by the RTK mobile station 31 and the detection precision of the RTK mobile station 31 are guaranteed.
Further, the bottom layer collecting mechanism 1 further includes an inclination angle sensor bracket 12, a connecting pin 13 and a sealing bottom plate 14, the connecting pin 13 is fixedly installed on the upper end surface of the inclination angle sensor bracket 12, the lower end surface of the inclination angle sensor bracket 12 is fixedly installed on the upper surface of the sealing bottom plate 14, and the sealing bottom plate 14 is adapted to the lower port of the installation cavity 610; the tilt angle sensor 11 is fixedly installed on the tilt angle sensor support 12, and the head end of the array displacement meter is connected with the tilt angle sensor 11 through the connecting pin shaft 13. Based on the calibration comparison between the tilt angle sensor 11 at the bottom end point and the internal sensor at the head node of the array displacement meter, the accurate relative deformation displacement between the layers inside the object to be measured can be calculated, so as to form a relative displacement correction mode.
Further, the top layer collecting mechanism 3 further includes a fixing rod 32, a fixing clip 33 and a pressing device 34, the fixing clip 33 includes two fixing holes, any one of the fixing holes is used for one end of the fixing rod 32 to penetrate, and the other fixing hole is used for the tail end of the array displacement meter to penetrate; the other end of the fixing rod 32 is fixedly connected to the press 34, the RTK rover station 31 is mounted on the upper end face of the press 34, and the data processing mechanism 4 is mounted on the upper end face of the RTK rover station 31. Based on the vertex measuring system of the structure that the tail end node at the top of the array displacement meter is connected with the vertex absolute position measuring unit of the RTK mobile station 31, the fixed rod 32 and the fixed clamping piece 33 form the same component, the fixed rod and the fixed clamping piece are guaranteed to move together, and therefore the absolute coordinate change of the top end point is detected.
Further, the pressing device 34 includes an installation cover plate 341, an installation box 342, a fixed cover 343, an expansion link 344, a fastening nut 345 and a fixed sleeve 346, the installation cover plate 341 covers the upper end surface of the installation box 342, the fixed cover 343 is fixedly disposed on the lower end surface of the installation box 342, the installation box 342 and the fixed cover 343 are penetrated by the upper end of the expansion link 344, the lower end of the expansion link 344 is connected to the fixed sleeve 346 through the fastening nut 345, and the fixed sleeve 346 is fixedly connected to the fixed rod 343.
Stated further, the mounting mechanism further comprises a guide member 63 and a locking screw; the guide 63 respectively wears to locate the periphery of displacement meter 21, and passes through locking screw is fixed, guide 63 orientation the inner wall extension of cavity is equipped with guide wheel arm 64, rotatable guide pulley 65 is installed to the end of guide wheel arm 64, guide wheel groove 60 has vertically been seted up to the inner wall of installation cavity 610, guide pulley 65 can imbed guide wheel groove 60, guide pulley 65 with each facial features laminating of guide wheel groove 60. In this embodiment, a space for accommodating the array displacement meter is formed inside the installation pipe 61, and the sealing bottom plate 14 is connected with the lower end opening of the installation pipe 61 in a sealing manner, so that the sealing performance of the installation pipe 61 is ensured; in addition, the guide wheel groove 60 is formed by the inner cavity wall of the installation pipeline 61 and the positioning shoulder 622, so that the displacement meter 21 can adjust the installation position along the displacement direction of the guide wheel groove 60 through the guide wheel 65 of the guide piece 63, the installation time is saved, and the installation efficiency is improved.
More specifically, the RTK mobile station includes a device housing 311, an upper cover plate 312, a lower cover plate 313, a circuit board 314 and a mobile station antenna 315, wherein the lower cover plate 313 is fixedly connected to the lower end of the device housing 311, the upper cover plate 312 is detachably covered on the upper end of the device housing 311, a storage cavity is formed inside the device housing 311, a through hole communicated with the outside is formed in a wall of the device housing 311, and the through hole is communicated with the storage cavity; the inner plate surface of the lower cover plate 313 is fixedly provided with a circuit board mounting seat 316, the circuit board 314 is fixedly mounted in the storage cavity through the circuit board 314 mounting seat, and the circuit board 314 is welded with a power supply interface a, a USB interface b, an RS485 interface c, an antenna interface d, an RTK module e, a GPS module f, a main chip g and a power supply module h.
In the prior art, the RTK mobile station generally needs to be provided with the multilayer circuit board 314, so that the RTK mobile station is large in size and weight, and the multilayer circuit board 314 is overlapped to be not beneficial to heat dissipation; in the embodiment, the RTK mobile station is miniaturized, and is composed of only the device housing 311 and the circuit board 314 accommodated in the storage cavity, and each module and the interface are integrated on a single circuit board 314, and the device housing 311 has a through hole and a detachable upper cover plate 312, which are convenient for installation and heat dissipation. To explain further, the power interface a is used for connecting the output end of the lithium battery 54 to supply power to the RTK mobile station 31; the USB interface b is used for communicating an external PC end to configure the RTK; the RS485 interface c is used for connecting the data processing mechanism 4 and transmitting RTK measurement data; the antenna interface d is used for mounting an antenna 315; the RTK module e is used for receiving a differential positioning signal; the GPS module f is used for receiving satellite positioning signals; the main chip g is used for processing data and controlling the work of each module; the power module h is used for supplying power to each module.
Stated further, the power supply mechanism 5 includes a control box 51, a solar panel 52, a solar panel bracket 53 and a lithium battery 54, the control box 51 is provided with a mounting through hole, the control box 51 is detachably mounted on the upper end of the mounting pipe 61 through the mounting through hole, the solar panel bracket 53 is fixedly mounted on the upper surface of the control box 51, the solar panel 52 is a tilting type and is fixedly mounted on the solar panel bracket 53, the lithium battery 54 is mounted inside the control box 51, the solar panel 52 is electrically connected with the lithium battery 54, and the lithium battery 54 supplies power to the acquisition mechanism, the data processing mechanism 4 and the RTK base station 7. In the embodiment, the solar panel 52 serving as the new energy power supply mechanism 5 is used as an independent power supply, so that the capacity of the mechanism can be reasonably configured according to the power load condition of the detection system and the local resource condition, and the mechanism is effectively utilized at the top of the detection device without occupying land resources; after the lithium battery 54 is configured, the uninterrupted power requirement of safe power utilization can be met; therefore, the power supply mechanism 5 in the embodiment saves the cost and ensures the stable and safe operation of the detection device.
As shown in fig. 12, the detection method of the vertical direction deformation displacement detection device according to the above includes the following steps: step S1: preparing a bottom layer collecting mechanism 1, fixedly installing a sealing bottom plate 14 at the lower end of an installation pipeline 61, and vertically penetrating and fixing the pipeline 61 to be installed end to end through a connecting structure 62 according to a preset length; step S2: drilling a pre-buried hole with a preset depth on a soil layer of an object to be detected, lowering the installation pipeline 61 into the pre-buried hole, reserving the installation pipeline 61 with the thickness of 500mm above the surface of the soil layer, and filling cement mortar between the installation pipeline 61 and the pre-buried hole for backfilling and tamping; step S3: preparing a middle-layer acquisition mechanism 2, adjusting the direction of the first guide wheel 65 to be fixed, placing the first guide wheel down along the guide wheel groove 611, and sequentially placing each displacement meter 21 below until the array displacement meters are completely placed; step S4: preparing a top layer acquisition mechanism 3, connecting the tail end of the array displacement meter with a top layer fixing rod 32 through a fixing clamping piece 33, sequentially installing a pressing device 34, an RTK mobile station 31 and a data processing system, and then installing an RTK base station 7 at an installation distance L of 1km from an RTK mobile station 61; step S5: the power supply preparation mechanism 5 is characterized in that a control box 51 penetrates through an installation pipeline 61 and is fixed on the ground, a lithium battery 54 and a solar panel 52 are sequentially installed, and the mechanisms are electrically connected; step S6: the method comprises the steps of starting a detection device, configuring collection frequency, setting a corresponding displacement change threshold, setting the threshold according to the actual situation of an engineering field, starting to collect and transmit real-time data, processing the data by a data processing mechanism 4 according to a built-in algorithm to obtain a real-time data result, transmitting the real-time data to a server through 4G communication, receiving the server data by a client, and sending prompt information to monitoring personnel when the deformation exceeds the threshold.
To be further explained, before step S6, the following calibration steps are further included: and after 24 hours of installation, observing whether the data acquired by the attitude sensor 11 tend to be stable, if the attitude data are stable at a certain value, stabilizing the internal structure of the object to be detected, calibrating the position as the zero point of the attitude sensor 11, and if the attitude data are not stable, continuing waiting until the internal structure of the object to be detected is stabilized for calibration.
To be more specific, the built-in algorithm of the data processing means 4 in step S6 includes the following data calculation steps: step A1: calibrating the initial stable state of the attitude sensor 11 as a zero point of the sensor, and establishing a bottom-layer space coordinate system G by taking the zero point as an original point; the array displacement meter is formed by flexibly connecting n sections of displacement meters 21 and comprises n +1 nodes, the first node coordinate of the array displacement meter is used as an origin, and a middle-layer space coordinate system M is established by using the first node as the origin; introducing an absolute coordinate system D through the RTK base station 7, wherein the absolute coordinate of the RTK base station in the local coordinate system D is (D, l, k); step A2: reading the acquired data of the attitude sensor 11, the array displacement meter and the RTK rover 31: the output measurement result of the attitude sensor 11 is the amount of movement thereof with respect to the index point, and is expressed as (x) in the underlying spatial coordinate system G0,y0,z0) (ii) a The output measurement of the array displacement meter is the coordinates of the remaining n nodes relative to the first node, expressed as (x) in the mid-level spatial coordinate system Mi,yi,zi) Wherein i is more than 0 and less than or equal to n; the output measurement of the RTK rover station is the relative coordinate with the RTK base station, expressed as (x) in the absolute coordinate system Dt,yt,zt) (ii) a Step A3: calculating the absolute coordinates δ of the top end pointn(xt,yt,zt) WhereinStep A4: computingCoordinate epsilon calibrated by any node i in middle-layer acquisition mechanism relative to attitude sensor in bottom-layer space coordinate system Gi(xεi,yεi,zεi) Wherein 0 is<i≤n,xεi=x0+xi,yεi=y0+yi,zεi=z0+zi(ii) a Step A5: the absolute coordinates of the initial calibration point of the attitude sensor can be calculated from the steps A3 to A4Wherein Step A6: calculating absolute coordinates of any node in middle layer acquisition mechanismWherein 0<i≤n, Step A7: repeating steps A3-A6 to calculate data at each time, e.g., at t1Absolute coordinates of any node at time of dayAbsolute coordinates of the base pointAt t2Absolute coordinates of any node at time of dayAbsolute coordinates of the base pointWherein0<i is less than or equal to n; step A8: in the detection mode of the bottom end point (such as the micro-motion of the rock layer), t is calculated1-t2Deformation delta of bottom end point at time0Wherein
Step A9: in the relative displacement correction mode, the movement influence error of the bottom end point is eliminated, and t is calculated1-t2Deformation amount delta of any node i at any momentiWherein 0 is<i≤n,
The built-in algorithm program of the data processing mechanism 4 is compiled according to the data calculation formula, the acquired data of the array displacement meter, the attitude sensor 11 and the RTK mobile station 31 can be comprehensively processed, and compared with the prior art, the algorithm fuses multiple groups of acquired data, so that the measurement result is more accurate and reliable, and the absolute deformation of each layer in the vertical direction and the state data of the rock layer are obtained.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Other embodiments of the invention will occur to those skilled in the art without the exercise of inventive faculty based on the explanations herein, and such equivalent modifications or substitutions are intended to be included within the scope of the present invention as defined in the appended claims.

Claims (10)

1. The utility model provides a vertical direction deformation displacement detection device which characterized in that: the system comprises an acquisition mechanism, a data processing mechanism, a power supply mechanism, an installation mechanism and an RTK base station;
the installation mechanism comprises a plurality of installation pipelines and a connecting structure, the installation pipelines are provided with vertically arranged installation cavities, the upper ends and the lower ends of the outer pipe walls of the installation pipelines are provided with positioning buckles, the connecting structure is provided with a connecting cavity, the installation pipelines penetrate through the connecting cavity, positioning grooves and positioning shoulders are arranged in the connecting cavity, the positioning shoulder bulges are arranged on the cavity walls of the connecting cavity, the positioning grooves are formed in the cavity walls of the connecting cavity, any two installation pipelines are positioned in the vertical direction through the positioning shoulders, and are embedded into the positioning grooves through the positioning buckles to realize the positioning in the circumferential direction;
the collecting mechanism is sequentially divided into a bottom collecting mechanism, a middle collecting mechanism and a top collecting mechanism from bottom to top, the bottom collecting mechanism and the middle collecting mechanism are installed in the installation cavity, the connecting end of the top collecting mechanism is connected with the top end of the middle collecting mechanism, the collecting end of the top collecting mechanism protrudes out of the upper end face of the installation pipeline, the power supply mechanism is arranged at the upper end of the installation pipeline in a penetrating mode, the collecting end of the top collecting mechanism is located above the power supply mechanism, the data processing mechanism is installed above the top collecting mechanism, and the RTK base station is independently erected on one side of the collecting mechanism;
the bottom acquisition mechanism comprises an attitude sensor, the middle acquisition mechanism comprises a plurality of displacement meters and flexible connecting pieces, the top acquisition mechanism comprises an RTK mobile station, the displacement meters are sequentially connected end to end through the flexible connecting pieces to form an array displacement meter, the head end of the array displacement meter is connected with the attitude sensor, and the tail end of the array displacement meter is connected with the RTK mobile station;
the power supply mechanism is used for supplying power to the attitude sensor, the array displacement meter, the RTK mobile station and the data processing mechanism, the attitude sensor, the array displacement meter, the RTK mobile station and the data processing mechanism are electrically connected, the attitude sensor, the array displacement meter and the RTK mobile station are used for acquiring the acquired data of deformation displacement of each position of the object to be detected in the vertical direction and sending the acquired data to the data processing mechanism, and the data processing mechanism is used for receiving the acquired data, calculating to obtain the absolute deformation data of the object to be detected in the vertical direction and sending the absolute deformation data to the upper computer.
2. A vertical direction deformation displacement detecting device according to claim 1, wherein: the mounting distance between the RTK base station and the acquisition mechanism is 1 km;
the RTK basic station includes base station antenna, host computer box, dead lever, adjusting screw, telescopic link and A-frame, the through-hole is seted up on the A-frame top, the lower extreme of telescopic link is worn to establish the through-hole is fixed, flexible cavity has been seted up to the telescopic link, the lower extreme of dead lever is worn to establish flexible cavity, the telescopic link can be followed the body of rod of dead lever reciprocates, and passes through adjusting screw fixes, the upper end of telescopic link is fixed in the lower terminal surface of host computer box, install on the host computer box base station antenna, the host computer box with power supply mechanism carries out the electricity and connects.
3. The vertical direction deformation displacement detection device according to claim 1, wherein the bottom layer collection mechanism further comprises an inclination sensor support, a connecting pin shaft and a sealing bottom plate, the connecting pin shaft is fixedly installed on the upper end surface of the inclination sensor support, the lower end surface of the inclination sensor support is fixedly installed on the upper surface of the sealing bottom plate, and the sealing bottom plate is adapted to the lower port of the installation cavity; the tilt angle sensor is fixedly arranged on the tilt angle sensor support, and the head end of the array displacement meter is connected with the tilt angle sensor through the connecting pin shaft.
4. The vertical deformation displacement detection device according to claim 1, wherein the top acquisition mechanism further comprises a fixing rod, a fixing fastener and a pressing device, the fixing fastener comprises two fixing holes, one of the fixing holes is used for one end of the fixing rod to penetrate through, and the other fixing hole is used for the tail end of the array displacement meter to penetrate through; the other end of the fixing rod is fixedly connected with the pressing device, the RTK mobile station is installed on the upper end face of the pressing device, and the data processing mechanism is installed on the upper end face of the RTK mobile station.
5. The vertical deformation displacement detection device according to claim 1, wherein the mounting mechanism further comprises a guide member and a locking screw, the guide member is respectively inserted into the periphery of the array displacement meter and fixed by the locking screw, the guide member is provided with a guide wheel arm extending towards the inner wall of the mounting cavity, the tail end of the guide wheel arm is provided with a rotatable guide wheel, the inner wall of the mounting cavity and the positioning shoulder are vertically provided with guide wheel grooves, the guide wheel can be embedded into the guide wheel grooves, and the guide wheel is attached to each surface of the guide wheel grooves.
6. The vertical deformation displacement detecting device according to claim 1, wherein the RTK rover station comprises a device housing, an upper cover plate, a lower cover plate, a circuit board and a rover antenna, the lower cover plate is fixedly connected to the lower end of the device housing, the upper cover plate is detachably covered on the upper end of the device housing, a storage cavity is formed inside the device housing, a through hole communicated with the outside is formed in the wall of the device housing, and the through hole is communicated with the storage cavity; the inner plate surface of the lower cover plate is fixedly provided with a circuit board mounting seat, the circuit board is fixedly mounted in the storage cavity through the circuit board mounting seat, and the circuit board is welded with a power supply interface, a USB interface, an RS interface, an antenna interface, an RTK module, a GPS module, a main chip and a power supply module.
7. The vertical direction deformation displacement detection device of claim 2, wherein the power supply mechanism comprises a control box, a solar panel bracket and a lithium battery, the control box is provided with a mounting through hole, the control box is detachably mounted at the upper end of the mounting pipeline through the mounting through hole, the solar panel bracket is fixedly mounted on the upper surface of the control box, the solar panel is fixedly mounted on the solar panel bracket in an inclined manner, the lithium battery is mounted inside the control box, the solar panel and the lithium battery are electrically connected with each other, and the lithium battery supplies power to the acquisition mechanism, the data processing mechanism and the RTK base station.
8. The detecting method of a vertical deformation displacement detecting device according to any one of claims 1 to 7, comprising the steps of:
step S1: preparing a bottom layer collecting mechanism, fixedly installing a sealing bottom plate at the lower end of an installation pipeline, and vertically penetrating and fixing the pipeline to be installed end to end through a connecting structure according to a preset length;
step S2: drilling a pre-buried hole with a preset depth on a soil layer of an object to be detected, lowering an installation pipeline into the pre-buried hole, reserving 500mm above the surface of the soil layer, and pouring cement mortar between the installation pipeline and the pre-buried hole for backfilling and tamping;
step S3: preparing a middle-layer acquisition mechanism, adjusting the direction of a first guide wheel to be fixed, putting the first guide wheel down along a guide wheel groove, and sequentially putting each displacement meter below the first guide wheel until the first guide wheel is completely put into the array displacement meter;
step S4: preparing a top layer acquisition mechanism, connecting the tail end of the array displacement meter with a top layer fixed rod through a fixed clamping piece, sequentially installing a pressing device, an RTK mobile station and a data processing system, and then installing an RTK base station at an installation distance of 1km from the RTK mobile station;
step S5: the control box penetrates through the installation pipeline and is fixed on the ground, the lithium battery and the solar panel are sequentially installed, and the mechanisms are electrically connected;
step S6: the method comprises the steps of starting a detection device, configuring collection frequency, setting a corresponding displacement change threshold, setting the threshold according to the actual situation of an engineering field, starting to collect and transmit real-time data, processing the data by a data processing mechanism 4 according to a built-in algorithm to obtain a real-time data result, transmitting the real-time data to a server through 4G communication, receiving the server data by a client, and sending prompt information to monitoring personnel when the deformation exceeds the threshold.
9. The detecting method of a vertical deformation displacement detecting device according to claim 8, characterized in that before step S6, the method further comprises the following calibration steps: and after 24 hours of installation, observing whether the data acquired by the attitude sensor 11 tend to be stable, if the attitude data are stable at a certain value, stabilizing the internal structure of the object to be detected, calibrating the position as the zero point of the attitude sensor, and if the attitude data are not stable, continuing to wait until the internal structure of the object to be detected is stabilized for calibration.
10. The detecting method of a vertical deformation displacement detecting device according to claim 8, wherein the built-in algorithm of the data processing mechanism in step S6 includes the following data calculation steps:
step A1: calibrating the initial stable state of the attitude sensor as a zero point of the sensor, and establishing a bottom-layer space coordinate system G by taking the zero point as an original point; the array displacement meter is formed by flexibly connecting n displacement meters and comprises n +1 nodes, the first node coordinate of the array displacement meter is used as an origin, and a middle-layer space coordinate system M is established by using the first node as the origin; introducing a local coordinate system D through an RTK base station, wherein the absolute coordinate of a fixed point of the RTK base station in the local coordinate system D is (D, l, k); establishing an RTK relative coordinate system R by taking an RTK base station fixed point as an origin;
step A2: reading the collected data of the attitude sensor, the array displacement meter and the RTK mobile station: the output measurement of the attitude sensor is its amount of movement relative to the index point, expressed as (x) in the underlying spatial coordinate system G0,y0,z0) (ii) a The output measurement of the array displacement meter is the coordinates of the remaining n nodes relative to the first node, expressed as (x) in the mid-level spatial coordinate system Mi,yi,zi) Wherein 0 isN is less than i and less than or equal to n; the output measurement of the RTK rover station is the relative coordinate with the RTK base station, which is expressed as (x) in the RTK relative coordinate system Rt,yt,zt);
Step A3: calculating the absolute coordinates δ of the top end pointn(xt,yt,zt) Wherein
Step A4: calculating the coordinate calibrated by any node i in the middle-layer acquisition mechanism relative to the attitude sensor in the bottom-layer space coordinate system GWherein 0<i≤n, zεi=z0+zi
Step A5: the absolute coordinates of the initial calibration point of the attitude sensor can be calculated from the steps A3 to A4Whereinzδ0=zt+h-(z0+zn);
Step A6: calculating absolute coordinates of any node in middle layer acquisition mechanismWherein 0<i≤n,
Step A7: repeating steps A3-A6 to calculate data at each time, e.g., at t1Absolute coordinates of any node at time of dayAbsolute coordinates of the base pointAt t2Absolute coordinates of any node at time of dayAbsolute coordinates of the base pointWherein 0<i≤n;
Step A8: in the detection mode of the bottom end point (such as the micro-motion of the rock layer), t is calculated1-t2Deformation delta of bottom end point at time0Wherein
Step A9: in the relative displacement correction mode, the movement influence error of the bottom end point is eliminated, and t is calculated1-t2Deformation amount delta of any node i at any momentiWherein 0 is<i≤n,
CN202111300790.1A 2021-11-04 2021-11-04 Vertical direction deformation displacement detection device and detection method thereof Pending CN114018149A (en)

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