CN114166178B - Real-time deformation monitoring method and system for frame section of on-building tunnel shield machine - Google Patents
Real-time deformation monitoring method and system for frame section of on-building tunnel shield machine Download PDFInfo
- Publication number
- CN114166178B CN114166178B CN202111502081.1A CN202111502081A CN114166178B CN 114166178 B CN114166178 B CN 114166178B CN 202111502081 A CN202111502081 A CN 202111502081A CN 114166178 B CN114166178 B CN 114166178B
- Authority
- CN
- China
- Prior art keywords
- lamp
- target
- monitoring
- accumulated
- deformation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 96
- 238000000034 method Methods 0.000 title claims abstract description 29
- 230000005641 tunneling Effects 0.000 claims abstract description 16
- 238000009434 installation Methods 0.000 claims abstract description 9
- 238000012360 testing method Methods 0.000 claims description 106
- 238000006073 displacement reaction Methods 0.000 claims description 97
- 238000004891 communication Methods 0.000 claims description 11
- 238000005259 measurement Methods 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- QVFWZNCVPCJQOP-UHFFFAOYSA-N chloralodol Chemical compound CC(O)(C)CC(C)OC(O)C(Cl)(Cl)Cl QVFWZNCVPCJQOP-UHFFFAOYSA-N 0.000 claims description 3
- 230000006855 networking Effects 0.000 claims description 3
- 239000003086 colorant Substances 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims description 2
- 238000004020 luminiscence type Methods 0.000 claims 1
- 230000007547 defect Effects 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 4
- 230000003068 static effect Effects 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004062 sedimentation Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The invention discloses a real-time deformation monitoring method and a real-time deformation monitoring system for a frame section of a tunnel shield tunneling machine, which solve the defects that the acquisition of segment deformation monitoring data is not timely, the installation difficulty of conventional equipment is high and the expansibility is poor in the existing shield tunneling process; the wireless module remotely controls the camera and the lamp targets to synchronously start up, acquires images of the lamp targets of all targets, acquires pixel coordinates of a central point of a luminous surface through a resolving system, and resolves the coordinate variation of all the measuring points through a corresponding algorithm to acquire accumulated deformation and current deformation of all the measuring points, compares the accumulated deformation and the current deformation with a preset threshold value, judges the state of the measuring points and returns the state of the measuring points to the lamp targets for monitoring and feedback.
Description
Technical Field
The invention relates to a tunnel deformation monitoring technology, in particular to a real-time deformation monitoring method and a real-time deformation monitoring system for a frame section of a tunnel shield machine.
Background
Along with the rapid development of urban economy, urban rail transit construction is carried out in each city, and the construction is mainly carried out by adopting a shield method. The disturbance of surrounding underground water and soil can be caused in the tunneling process of the shield machine, so that the tunnel structure is stressed unevenly and subjected to differential deformation, particularly, a lining ring just installed near the shield machine is easy to generate uneven settlement and horizontal lateral movement, the deformation is relatively large, and construction accidents can be caused when the deformation is serious, so that the deformation monitoring of the tunnel structure under construction of the frame section of the shield machine is particularly important.
The existing monitoring means mainly comprise manual monitoring, total station automatic monitoring and static level settlement monitoring. The total station automatic monitoring is difficult to erect due to the influence of the frame and other construction equipment in the construction range, and deformation of the pipe piece in a period of time when the pipe piece is just installed cannot be monitored; the installation difficulty of the static level is high, the level measuring points are required to be increased along with the continuous advancement of the shield construction process, the whole set of monitoring system is reinstalled and debugged, the deformation cannot be continuous, the static level can only monitor the settlement deformation of the tunnel segment, and the horizontal displacement of the tunnel segment cannot be acquired.
Disclosure of Invention
The invention aims to provide a real-time deformation monitoring method and a real-time deformation monitoring system for a frame section of a shield tunneling machine, which are simple and convenient to construct and use, high in precision and strong in expansibility.
The technical aim of the invention is realized by the following technical scheme:
a real-time deformation monitoring method for a frame section of an on-site tunnel shield machine comprises the following steps:
Performing site survey of a newly built tunnel, selecting a test camera set with a proper focal length according to the site test range and the test precision requirement, arranging a lamp target and the camera set at the waist position at one side of a site lining ring, and installing to form a deformation monitoring network;
After the layout and installation are completed, calibrating the deformation monitoring network, determining the initial position relation between the test camera set and the lamp targets, and establishing an independent local coordinate system of each camera and a tunnel integral coordinate system;
the test camera group shoots, sequentially carries out coordinate calculation along the traveling direction of the shield tunneling machine to obtain pixel coordinates of each lamp target light spot, and obtains the accumulated displacement variation and the current displacement variation of each monitoring lamp target based on the deformation calculation module;
According to the accumulated displacement variation and the current displacement variation of each measuring point obtained through monitoring, comparing the accumulated displacement variation and the current displacement variation with a preset threshold value and performing corresponding real-time pre-alarm;
With the advancement of tunnels, a test camera set and a lamp target are additionally arranged at the corresponding position of the newly built lining ring, and a new monitoring network is formed by the test camera set and the lamp target and the existing monitoring network, so that real-time monitoring of all monitoring areas is performed.
A real-time deformation monitoring system for a frame section of an on-building tunnel shield machine comprises
The lamp target is provided with a luminous surface and is divided into a reference lamp target and a monitoring lamp target; the reference lamp target is arranged at the end of the tunnel to perform reference determination of the reference position; the monitoring lamp targets are arranged in a plurality of along the traveling direction of the shield machine and are fixedly arranged on the shield tunnel lining segments according to a set distance;
The test camera set is horizontally and fixedly arranged on the shield tunnel lining segment, a plurality of test points are arranged at intervals along the travelling direction of the shield machine and are positioned between the test points, and shooting and collecting are respectively carried out on target lamp targets;
The wireless module is arranged in the test camera set and the lamp target, performs wireless communication, transmits control instructions to the test camera set and the lamp target, and performs wireless transmission on data acquired by the test camera;
The resolving system comprises a coordinate resolving module for resolving the coordinates of the central pixel of the shot lamp target light spot and a deformation resolving module for resolving deformation based on coordinate resolving data. In summary, the invention has the following beneficial effects:
The machine vision measurement of the test camera set and the lamp target is adopted, so that the measurement accuracy is high, and the interference of external factors such as temperature, humidity and dust in a tunnel is avoided; the multi-test-camera set and the lamp targets are combined freely to form a network, the continuous monitoring range is continuously enlarged and the early deformation monitoring result is ensured only by continuously increasing the test cameras and the lamp targets in the shield tunneling process, and the pre-alarm can be performed in real time, so that on-site constructors can be prompted more intuitively, corresponding emergency measures are reminded to be taken on site, and the use is safer and more convenient.
Drawings
FIG. 1 is a schematic diagram of the system;
FIG. 2 is a schematic diagram of the structure of a lamp target;
FIG. 3 is a schematic diagram of a test camera set;
Fig. 4 is a schematic flow chart of the method.
In the figure: 1. a lamp target; 2. a light emitting surface; 3. testing the camera set; 4. an industrial camera; 5. and (5) leveling the bubbles.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
According to one or more embodiments, a real-time deformation monitoring system of a frame section of a shield tunneling machine under construction is disclosed, as shown in fig. 1, and comprises a lamp target and a test camera set, wherein the lamp target and the test camera set are sequentially arranged along the advancing direction of the shield tunneling machine in a tunnel, and the test camera set and the monitoring lamp target are sequentially and alternately arranged, and the lamp target and the test camera are fixedly arranged on the lining pipe section of the shield tunneling machine and are arranged at intervals along the advancing direction of the shield tunneling machine. The system also comprises a wireless module which is arranged on the test camera set and performs wireless communication on the lamp target, and a resolving system which receives data transmitted by the wireless module and performs resolving.
As shown in fig. 2, the structure diagram of the monitoring light target is provided with two luminous surfaces, specifically, the luminous surfaces are a circular device, white light can be emitted for the test camera group to collect images, further, the pixel coordinates of the center of the luminous device can be obtained through the light target spot center pixel coordinate resolving system, the luminous surfaces are arranged on the front and the back to emit light, the adjacent test camera group is used for shooting and collecting, and the double-sided luminous light target is favorable for the continuous expansion of the monitoring system along with the pushing of the shield. The reference lamp target is fixedly arranged at the end of the tunnel and is used as a reference point, the specific position of the reference lamp target is known, the reference lamp target is set to be a single luminous surface, and the luminous surface faces the advancing direction of the tunnel shield machine and is used for shooting by an adjacent test camera group to obtain a reference lamp target image. The wireless device is internally arranged in a lamp target, and the lamp target transmits and receives wireless signals through a top signal antenna.
As shown in fig. 3, the test camera set includes two industrial cameras disposed horizontally inside and disposed opposite to each other in shooting directions, and the target lamp targets are respectively shot and collected, and a leveling bubble is disposed on the test camera set for leveling when the test camera set is installed, so that the test camera set is installed horizontally. Similarly, a wireless module is built in the test camera set, and signals are received and transmitted through a signal antenna arranged on the test camera set. The focal length of the industrial camera in the test camera set can be preferentially selected according to the measuring point spacing, so that the focal length of the industrial camera can clearly image a target light spot of a target lamp, and the resolving precision of the pixel coordinates of the central point of the light spot is improved.
The reference lamp targets are at least provided with two, and the industrial cameras which are close to the tunnel end and shoot the reference lamp targets by the first test camera set are kept in a common view, so that the reference lamp targets can be shot and collected by the adjacent test camera sets after the reference lamp targets emit light. The monitoring lamp targets arranged between the adjacent test camera sets are also at least two, the two monitoring lamp targets are respectively in communication with the industrial cameras shot at the two sides, the two cameras at the two sides can be ensured to simultaneously aim at the lamp targets, the redundant observability quantity between the adjacent test camera sets is increased, the calculation accuracy of the model is improved, and meanwhile, the communication is also kept between the two opposite industrial cameras of the two adjacent test camera sets, so that the mutual shooting verification is performed. The test camera set and the lamp targets can be continuously expanded along with the pushing of the shield machine to form a continuous deformation monitoring network, the lamp targets far away from the position of the shield frame section are used as datum points in the deformation monitoring network, the test camera set and the target lamp targets need to be kept in a common view in the networking observation process, and the situation that the pictures of the luminous surfaces of different lamp targets are overlapped when the test camera set shoots the lamp targets for imaging is ensured.
The resolving system comprises a coordinate resolving module for resolving the coordinates of the central pixel of the shot light target light spot and a deformation resolving module for resolving the deformation of the transmitted coordinate resolving data. The deformation calculation module monitors and calculates each measuring point, compares the measuring point with the initial position to obtain the accumulated displacement variation of the measuring point, and compares the accumulated displacement variation with the last data to obtain the displacement variation. The resolving system presets measuring point deformation thresholds, including a current early warning threshold, a current alarm threshold, an accumulated early warning threshold and an accumulated alarm threshold, judges whether the current displacement variation and the accumulated displacement variation of each measuring point obtained through resolving are beyond the corresponding thresholds or not through the measuring point deformation thresholds, and sends corresponding luminous control instructions through the wireless module. The luminous surface of each monitoring lamp target is provided with a plurality of luminous colors, and the monitoring lamp target carries out corresponding luminous indication through the control instruction transmitted by the wireless module. The method comprises the following steps:
When the accumulated displacement variation of the measuring point and the displacement variation of the time do not reach the early warning threshold, the measuring point is dormant and waits for the next acquisition and shooting;
When the accumulated displacement variation of the measuring point reaches an accumulated early warning threshold and does not reach an accumulated alarm threshold, or the displacement variation of the time reaches the current early warning threshold and does not reach the current alarm threshold, the measuring point lamp target emits yellow light to prompt;
when the accumulated displacement variation of the measuring point reaches an accumulated early warning threshold value and does not reach an accumulated alarm threshold value, and the displacement variation of the time reaches the alarm threshold value of the time, the lamp target of the measuring point sends out orange light to prompt;
when the accumulated displacement variation of the measuring point reaches an accumulated alarm threshold and the displacement variation of the time reaches a current early warning threshold but does not reach the current alarm threshold, the lamp target of the measuring point sends out orange light to prompt;
when the accumulated displacement variation of the measuring point and the displacement variation of the time reach the alarm threshold, the lamp target of the measuring point emits red light for prompting.
After the deformation result of the lining segments of each lamp target point is solved, the color of the lamp target is set to be dormant, yellow, orange or red light is emitted according to whether an early warning or alarm value is reached, so that on-site operators can be reminded of taking corresponding measures in time.
The wireless module adopts Lora or ZigBee for communication, and because the signal communication condition in the construction tunnel is limited, 4G network signal transmission cannot be adopted, the wireless module (Lora or ZigBee) can be adopted for communication, and remote acquisition control and data transmission are realized. The wireless module is used for controlling the opening and closing of the lamp targets and the luminous color of the lamp targets, and controlling each camera group to synchronously shoot after the lamp targets are opened.
The power supply condition in the construction tunnel is relatively poor, so that the rechargeable lithium battery can be used for supplying power, a quick battery replacement switch is arranged on the test camera set and the lamp target, the built-in battery is replaced through button type opening and closing, the operation is simple, and meanwhile, the instability of the measuring point caused by movement of the lamp target and the camera in the battery replacement process can be avoided.
The device comprises a mounting base, a fixing screw and a clamping device, and particularly adopts the fixing screw to fix the camera and the lamp target on the mounting base respectively; the buckle device is used for fixing the mounting base with the camera and the lamp target on the tunnel lining segment. For tunnel lining segments with embedded grooves, T-shaped screws can be used as buckling devices; for the duct piece without the embedded groove, the duct piece can be drilled first, and an expansion screw is installed to serve as a buckling device. The buckle device is easy to operate in the installation process so as to meet the requirement of rapid operation in the tunnel. The stability of the whole monitoring system is ensured by the fixing device.
The method comprises the steps of fixedly mounting a test camera set and a lamp target in a tunnel, controlling the lamp target to emit light through sending a control instruction, shooting and collecting the test camera set, carrying out coordinate and displacement resolving on shot and collected images through a resolving system to obtain displacement variation of each measuring point, controlling the corresponding test lamp target to carry out corresponding luminous indication through comparison of threshold values, and correspondingly mounting the test camera set and the lamp target of the measuring point along with shield entering of the tunnel to carry out deformation real-time monitoring. And comparing the detected state with a pre-set early warning value and an alarm value of the system, and simultaneously returning a detected state result to the lamp target to control the luminous color of the lamp target so as to realize real-time monitoring and feedback of monitoring data.
According to one or more embodiments, a method for monitoring real-time deformation of a frame section of a tunneling shield machine is disclosed, as shown in fig. 4, and includes the following steps:
S1, performing site survey of a newly built tunnel, selecting a test camera set with a proper focal length according to the site test range and the test precision requirement, arranging a lamp target and the camera set at the waist position at one side of a site lining ring, and installing to form a deformation monitoring network. The method comprises the following steps:
A reference lamp target is arranged at the end of the tunnel, and the luminous surface of the reference lamp target faces the travelling direction of the shield tunneling machine; along the advancing direction of shield constructs the machine, install test camera group and monitoring light target on lining segment in proper order, the test camera group carries out horizontal installation through the judgement of level bubble, and the monitoring light target is through two-sided luminous confession its adjacent both sides test camera group shooting formation of image, and the test camera group shoots respectively formation of image to its target monitoring light target through two built-in industrial cameras that shoot opposite direction.
And adjusting the test camera set and the monitoring lamp target to ensure that the test camera set and the lamp target imaged by the test camera set are kept in a visual way. In the layout and installation of the deformation monitoring network, the opposite industrial cameras in the two adjacent test camera groups can also be mutually photographed and imaged in a visible manner.
As shown in fig. 1, the test camera set and the lamp target at each position are installed according to a pre-designed deformation monitoring network, wherein M1 and M2 in fig. 1 are datum points in a test range, and are single-sided luminous lamp targets; m3, M6 and M9 are test camera groups and are deformation monitoring points; m4, M5, M7, M8, M10 and M11 are deformation monitoring points between two phase units and are double-sided luminous lamp targets; the test camera groups and the target lamp targets need to be kept in a common view, so that the problem that the pixel coordinates of the central point of the luminous surfaces cannot be calculated due to the overlapping of the luminous surfaces of the lamp targets when the cameras shoot and image; the focal length of the camera should also be selected to avoid acquisition imaging of non-target light targets.
And S2, calibrating the deformation monitoring network after the arrangement and installation are completed, determining the initial position relation between the test camera set and the lamp targets, and establishing an independent local coordinate system of each camera and an independent integral tunnel coordinate system. Specific:
And starting from the test camera set adjacent to the reference lamp target, determining the initial position relationship between the test camera set and the lamp target in sequence.
Each industrial camera takes the optical center of the camera as an origin, takes the shooting direction of the industrial camera as a Y axis, takes the vertical upward direction as a Z axis, and takes the direction passing through the origin in the horizontal plane and perpendicular to the Y axis as an X axis, so as to establish a local coordinate system of the camera.
And establishing a tunnel integral coordinate system by taking a tunnel end reference lamp target as an origin, the traveling direction of the shield machine as a Y axis, the vertical upward direction as a Z axis and the direction vertical to the Y axis through the origin in a horizontal plane as an X axis.
And S3, shooting by the test camera set, sequentially carrying out coordinate calculation along the traveling direction of the shield tunneling machine to obtain pixel coordinates of each lamp target light spot, converting the pixel coordinates into displacement coordinates by the deformation calculation module, and comparing the last displacement coordinates of each monitoring lamp target to obtain the displacement variation. The method comprises the following steps:
The industrial cameras in each test camera set shoot and image the target lamp target at the same time, the coordinates and the displacement of the test camera set shooting the reference lamp target are calculated based on the known positions of the reference lamp target, the accumulated displacement variation is obtained by comparing the initial positions, and the displacement variation is obtained by comparing the initial positions with the last monitored coordinates.
And (3) resolving the coordinate position of the test camera set based on the shooting reference lamp target, and simultaneously, shooting and resolving the shot monitoring lamp target on the other side of the test camera set to acquire the corresponding coordinate and displacement of the target.
And by analogy, calculating and obtaining the coordinates and displacement of each test camera set and the monitoring lamp target along the Y-axis direction of the tunnel coordinate system.
And S4, acquiring the accumulated displacement variation and the current displacement variation of each measuring point according to monitoring, comparing the accumulated displacement variation and the current displacement variation with a preset threshold value, and performing corresponding real-time pre-alarm.
And according to the accumulated displacement variation and the current displacement variation, an accumulated early warning threshold value, an accumulated alarm threshold value, a current early warning threshold value and a current alarm threshold value are preset for each measuring point. The corresponding detection lighting target is controlled to emit the set color lamplight to prompt through the corresponding threshold value:
when the accumulated displacement variation of the measuring point and the displacement variation of the time do not reach the early warning threshold, the measuring point is dormant and waits for the next acquisition and shooting; when the accumulated displacement variation of the measuring point reaches an accumulated early warning threshold and does not reach an accumulated alarm threshold, or the displacement variation of the time reaches the current early warning threshold and does not reach the current alarm threshold, the measuring point lamp target emits yellow light to prompt; when the accumulated displacement variation of the measuring point reaches an accumulated early warning threshold value and does not reach an accumulated alarm threshold value, and the displacement variation of the time reaches the alarm threshold value of the time, the lamp target of the measuring point sends out orange light to prompt; when the accumulated displacement variation of the measuring point reaches an accumulated alarm threshold and the displacement variation of the time reaches a current early warning threshold but does not reach the current alarm threshold, the lamp target of the measuring point sends out orange light to prompt; when the accumulated displacement variation of the measuring point and the displacement variation of the time reach the alarm threshold, the lamp target of the measuring point emits red light for prompting.
The displacement coordinate variation of each measuring point is caused by three factors, namely the actual displacement of the measuring point, the movement of the camera and the rotation of the camera. Because the horizontal displacement and the vertical displacement of each measuring point are independent, the equation can be independently listed for calculation, and the calculation process is introduced by taking the vertical displacement calculation as an example:
The displacement of each measuring point along the local coordinate axis of each camera is assumed to be positive, so that the forward rotation around the local coordinate axis of each camera is assumed to be positive. Irrespective of the rotation of the camera around the optical axis Y, the rotation of the camera around the X-axis and the displacement along the Z-axis can generate the change of the vertical displacement coordinates of the photographed measuring point
Taking fig. 1 as an example, first, the displacement of the camera M3 is calculated by using the coordinates of the reference points M1, M2 whose change amount is always zero or known
In the formula (1), the components are as follows,Displacement coordinates of the reference points M1, M2 in the initial image; /(I)The displacement coordinates of the datum points M1 and M2 in the image are monitored; Δz 1,Δz2 is the vertical displacement of the reference points M1, M2, which is known, if it is a stationary point, Δz 1＝Δz2＝0;Δz3,α3 is the vertical displacement of the left camera in the camera set M3 and the rotation angle around its local coordinate axis X, respectively; /(I)The distances along the Y-axis between M1 and M3, and between M2 and M3, respectively, are assumed to remain constant throughout.
From equation (1), the vertical displacement Δz 3 of the left camera in the camera set M3 and the rotation angle α 3 around the local coordinate axis X thereof can be calculated, and then the vertical displacement of the right camera in the camera set M3 is Δz 3, and the rotation angle around the local coordinate axis X thereof is- α 3.
The right side camera in the camera set M3 can shoot the measuring points M4, M5 and the left side camera in the camera set M6; the left side camera in camera set M6 may capture side points M4, M5 and the right side camera in camera set M6.
The right camera in the camera group M3 shoots measuring points M4 and M5;
From equation (2), the vertical displacements Δz 4 and Δz 5 of the measurement points M4 and M5 can be calculated.
The left camera in the camera group M6 shoots measuring points M4 and M5;
From equation (3), the vertical displacement Δz 6 of the left camera in the camera group M6 and the rotation angle α 6 about its local coordinate axis X can be calculated.
Mutual photographing between the right camera in the camera group M3 and the left camera in the camera group M6:
Equation (4) can be used as a redundant equation to reduce the solution error to camera shift.
Obviously, a measuring point can be additionally arranged between the M3 and the M6, so that the solution error can be further reduced through least square adjustment as redundant observation.
By the method of the steps, the vertical displacements Δz 8 and Δz 9 of the measuring points M7 and M8 can be further calculated, the vertical displacements of the two cameras in the camera set M9 and the rotation angles around the local coordinate axes X of the cameras can be further calculated, and the vertical displacements Δz 10 and Δz 11 of the measuring points M10 and M11 can be calculated.
Because the direction of the local coordinate axis Z of each camera is consistent with that of the whole coordinate axis Z, the vertical displacement of each measuring point calculated in the steps is the vertical displacement of each measuring point in the whole coordinate system, the positive value is lifting, and the negative value is sinking.
The vertical displacement of each measuring point obtained by the calculation is the accumulated change delta z i of the sedimentation value, and the current change delta z i of each measuring point can be obtained by performing the difference between the current accumulated change and the last accumulated change. Similarly, the cumulative change amount Δχ i and the current change amount δχ i of the horizontal movement of each measurement point can be obtained.
And comparing the accumulated change of each measuring point and the current change result with accumulated early warning, accumulated alarm, current early warning and current alarm value preset by the system, so as to realize the luminous indication control of the measuring lighting target.
S5, along with the advancement of the tunnel, a test camera set and a lamp target are additionally arranged at the corresponding position of the newly built lining ring, and a new monitoring network is formed by the test camera set and the lamp target and the existing monitoring network, so that real-time monitoring of all monitoring areas is performed.
The present embodiment is only for explanation of the present invention and is not to be construed as limiting the present invention, and modifications to the present embodiment, which may not creatively contribute to the present invention as required by those skilled in the art after reading the present specification, are all protected by patent laws within the scope of claims of the present invention.
Claims (7)
1. The real-time deformation monitoring method for the frame section of the on-site tunnel shield machine is characterized by comprising the following steps of:
Performing site survey of a newly-built tunnel, selecting a test camera set with a proper focal length according to the site test range and the test precision requirement, arranging a lamp target and the camera set at the waist position at one side of a site lining ring, and installing to form a deformation monitoring net, wherein the installation and arrangement of the deformation monitoring net are specifically as follows:
A reference lamp target is arranged at the end of the tunnel, and the luminous surface of the reference lamp target faces the travelling direction of the shield tunneling machine;
Sequentially installing a test camera set and a monitoring lamp target on the lining segment along the travelling direction of the shield tunneling machine, wherein the monitoring lamp target is used for shooting and imaging of the test camera set on two adjacent sides of the lining segment through double-sided luminescence, and the test camera set is used for respectively shooting and imaging of the target lamp target through two built-in industrial cameras with opposite shooting directions;
adjusting the test camera set and the monitoring lamp target to ensure that the test camera set and the lamp target imaged by the test camera set are kept in a visual way;
After the layout and installation are completed, calibrating the deformation monitoring network, determining the initial position relation between the test camera set and the lamp targets, and establishing an independent local coordinate system of each camera and a tunnel integral coordinate system, wherein the method specifically comprises the following steps of: starting from the test camera set adjacent to the reference lamp target, determining initial position relation between the test camera set and the lamp target in sequence;
Each industrial camera takes the center of the camera as an origin, takes the shooting direction of the industrial camera as a Y axis, takes the vertical upward direction as a Z axis, and takes the direction passing through the origin in the horizontal plane and perpendicular to the Y axis as an X axis, so as to establish a local coordinate system of the camera;
The method comprises the steps of taking a tunnel end reference lamp target as an origin, taking the traveling direction of a shield machine as a Y axis, taking the vertical upward direction as a Z axis, taking the direction vertical to the Y axis through the origin in a horizontal plane as an X axis, and establishing a tunnel integral coordinate system;
The test camera group shoots, and sequentially carries out coordinate calculation along the travelling direction of the shield tunneling machine to obtain pixel coordinates of each lamp target light spot, converts the pixel coordinates into displacement coordinates based on a calculation system, compares the last displacement coordinates of each lamp target to obtain the displacement variation, and specifically comprises the following steps:
The industrial cameras in each test camera set shoot and image the target lamp target at the same time, the coordinates and the displacement of the test camera set shooting the reference lamp target are calculated based on the known position of the reference lamp target, the accumulated displacement variation is obtained by comparing the initial position, and the displacement variation is obtained by comparing the current monitored coordinates;
the coordinate position of the test camera set based on the shooting reference lamp target is resolved, and meanwhile, the test camera set shoots and resolves the shot monitoring lamp target on the other side to obtain the corresponding coordinate and displacement;
And then, calculating and obtaining the coordinates and displacement of each test camera set and the monitoring lamp target along the Y-axis direction of the tunnel coordinate system;
According to the accumulated displacement variation and the current displacement variation of each measuring point obtained through monitoring, comparing the accumulated displacement variation and the current displacement variation with a preset threshold value and performing corresponding real-time pre-alarm;
With the advancement of tunnels, a test camera set and a lamp target are additionally arranged at the corresponding position of the newly built lining ring, and a new monitoring network is formed by the test camera set and the lamp target and the existing monitoring network, so that real-time monitoring of all monitoring areas is performed.
2. The method for monitoring real-time deformation of the frame section of the on-building tunnel shield machine according to claim 1, which is characterized in that: in the layout and installation of the deformation monitoring network, the opposite industrial cameras in the two adjacent test camera groups can also be mutually photographed and imaged in a visible manner.
3. The method for monitoring real-time deformation of an on-building tunnel shield machine frame section according to claim 1, wherein the real-time pre-alarm is specifically as follows:
According to the accumulated displacement variation and the current displacement variation, an accumulated early warning threshold value, an accumulated alarm threshold value, a current early warning threshold value and a current alarm threshold value are preset for each measuring point;
controlling the corresponding measurement lighting target to emit the set color lamplight to prompt through the corresponding threshold;
When the accumulated displacement variation of the measuring point and the displacement variation of the time do not reach the early warning threshold, the measuring point is dormant and waits for the next acquisition and shooting;
When the accumulated displacement variation of the measuring point reaches an accumulated early warning threshold and does not reach an accumulated alarm threshold, or the displacement variation of the time reaches the current early warning threshold and does not reach the current alarm threshold, the measuring point lamp target emits yellow light to prompt;
when the accumulated displacement variation of the measuring point reaches an accumulated early warning threshold value and does not reach an accumulated alarm threshold value, and the displacement variation of the time reaches the alarm threshold value of the time, the lamp target of the measuring point sends out orange light to prompt;
when the accumulated displacement variation of the measuring point reaches an accumulated alarm threshold and the displacement variation of the time reaches a current early warning threshold but does not reach the current alarm threshold, the lamp target of the measuring point sends out orange light to prompt;
when the accumulated displacement variation of the measuring point and the displacement variation of the time reach the alarm threshold, the lamp target of the measuring point emits red light for prompting.
4. A real-time deformation monitoring system for a frame section of an on-building tunnel shield machine is characterized in that: comprises the following steps of
The lamp target is provided with a luminous surface and is divided into a reference lamp target and a monitoring lamp target; the reference lamp target is arranged at the end of the tunnel to perform reference determination of the reference position; the monitoring lamp targets are provided with a plurality of measuring points along the traveling direction of the shield machine and are fixedly arranged on the shield tunnel lining segments according to the set distance;
The test camera set is horizontally and fixedly arranged on a shield tunnel lining segment, a plurality of test points are arranged at intervals along the travelling direction of the shield machine and are positioned between the test points, shooting and collecting are respectively carried out on target lamp targets of the test camera set, the test camera set and the lamp targets are continuously expanded along with the propulsion of the shield machine to form a continuous deformation monitoring network, the deformation condition of each monitoring point is synchronously monitored through the deformation monitoring network formed by a plurality of test cameras, the lamp targets far away from the position of a shield frame section are used as datum points in the deformation monitoring network, and the test camera set and the target lamp targets are required to be kept in a common view in the networking observation process;
the wireless module is arranged in the test camera set and the lamp target, performs wireless communication, transmits control instructions to the test camera set and the lamp target, and performs wireless transmission on data acquired by shooting of the test camera;
the system comprises a coordinate resolving module for resolving the center pixel coordinates of shot light target spots, and a deformation resolving module for resolving deformation of transmitted coordinate resolving data, wherein the coordinate resolving module is used for performing networking resolving on the two-dimensional pixel coordinates of each light target acquired by a camera group, converting the coordinates of the data of all the camera groups into a uniform resolving coordinate system, and the deformation resolving module is used for respectively comparing the current coordinates with the last coordinates and the initial coordinates to acquire the current variation and the accumulated variation of the measuring point.
5. The real-time deformation monitoring system for a frame section of a tunnel shield machine according to claim 4, wherein: the test camera group comprises two industrial cameras which are horizontally arranged and have opposite shooting directions; the reference lamp targets and the monitoring lamp targets between every two test camera groups are at least two;
And the industrial cameras of the test camera groups are kept in communication with the target lamp targets thereof, and the opposite industrial cameras of the two adjacent test camera groups are kept in communication.
6. The real-time deformation monitoring system for a frame section of a tunnel shield machine according to claim 4, wherein: the system is preset with a measuring point deformation threshold, including a current early warning threshold, a current alarm threshold, an accumulated early warning threshold and an accumulated alarm threshold;
The resolving system resolves and obtains the current displacement variation and the accumulated displacement variation of each measuring point; the system correspondingly outputs a lighting control instruction through the wireless module according to the relation between the variable quantity and the threshold value;
the reference lamp targets are single-luminous-surface lamp targets, the monitoring lamp targets are double-luminous-surface lamp targets, the luminous surfaces of the monitoring lamp targets are provided with a plurality of luminous colors, and the monitoring lamp targets respond to control instructions output by the wireless module to perform corresponding luminous instructions.
7. The method and system for monitoring real-time deformation of a frame section of a tunnel shield machine according to claim 4, wherein the method is characterized by comprising the following steps: the wireless module adopts Lora or ZigBee for communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111502081.1A CN114166178B (en) | 2021-12-09 | 2021-12-09 | Real-time deformation monitoring method and system for frame section of on-building tunnel shield machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111502081.1A CN114166178B (en) | 2021-12-09 | 2021-12-09 | Real-time deformation monitoring method and system for frame section of on-building tunnel shield machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114166178A CN114166178A (en) | 2022-03-11 |
| CN114166178B true CN114166178B (en) | 2024-05-10 |
Family
ID=80485103
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111502081.1A Active CN114166178B (en) | 2021-12-09 | 2021-12-09 | Real-time deformation monitoring method and system for frame section of on-building tunnel shield machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114166178B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115205369B (en) * | 2022-08-03 | 2024-04-02 | 江苏科技大学 | Anti-atmospheric turbulence lamp target image displacement extraction algorithm |
| CN117704967B (en) * | 2024-02-05 | 2024-05-07 | 中铁西南科学研究院有限公司 | Machine vision-based blast hole position dynamic measurement method, target and measurement system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107449393A (en) * | 2017-09-18 | 2017-12-08 | 机械工业勘察设计研究院有限公司 | A kind of urban track traffic tunnel deformation monitoring system and method |
| CN110411408A (en) * | 2019-07-11 | 2019-11-05 | 浙江大学 | A kind of surface subsidence monitoring method based on computer vision |
| CN111608731A (en) * | 2020-05-25 | 2020-09-01 | 北京市地铁运营有限公司 | Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof |
-
2021
- 2021-12-09 CN CN202111502081.1A patent/CN114166178B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107449393A (en) * | 2017-09-18 | 2017-12-08 | 机械工业勘察设计研究院有限公司 | A kind of urban track traffic tunnel deformation monitoring system and method |
| CN110411408A (en) * | 2019-07-11 | 2019-11-05 | 浙江大学 | A kind of surface subsidence monitoring method based on computer vision |
| CN111608731A (en) * | 2020-05-25 | 2020-09-01 | 北京市地铁运营有限公司 | Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114166178A (en) | 2022-03-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114166178B (en) | Real-time deformation monitoring method and system for frame section of on-building tunnel shield machine | |
| US11519724B2 (en) | Method for monitoring ground settlement based on computer vision | |
| CN110161043A (en) | A kind of subway tunnel structure synthetic detection vehicle | |
| CN105203046B (en) | Multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method | |
| CN104655047B (en) | The rapid integrated measuring system in tunnel | |
| CN106224007A (en) | Safety for tunnel engineering monitoring and warning management system | |
| CA2822387C (en) | Geodesic measuring device comprising a thermographic camera | |
| CN104316024A (en) | Simple cascading camera chain measuring method and system for monitoring multipoint settlement | |
| CN106061836A (en) | Control device, imaging device, control method, imaging method, and computer program | |
| CN110736446B (en) | Pose identification system and method for cantilever type heading machine | |
| CN106062510A (en) | Information processing device, information processing method, and computer program | |
| CN109736894A (en) | A kind of monitoring system, monitoring method and method for early warning for coal mine roadway country rock disaster | |
| CN112556592B (en) | Shield tail clearance measurement system and method based on visual positioning | |
| CN108007378B (en) | Deformation monitoring integrated system and use method thereof | |
| CN112329531B (en) | Linear array binocular imaging system for pipe gallery apparent disease detection and working method | |
| CN115591165B (en) | Extremely early fire identification system and method for fire-fighting robot | |
| CN110295533A (en) | A kind of road surface traverse measuring device, system and method | |
| CN102849092A (en) | Visible positioning monitoring system of tunnel trolley | |
| CN105605982B (en) | Automatic target reporting device and automatic target reporting method | |
| CN108222985B (en) | Data acquisition system for jumbolter | |
| CN109341675B (en) | A kind of development machine three dimension location case, system and localization method | |
| CN110201333A (en) | A kind of full-automatic coordinated investigation of fire-fighting robot and extinguishing operation method | |
| CN206056588U (en) | A kind of Multifunctional total station instrument | |
| CN107388979B (en) | A kind of tunnel surface deformation monitoring system and computer | |
| CN110345906A (en) | The real-time level measurement method and measuring device of tunnel arch top settlement |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Country or region after: China Address after: 200093 No. 38 Shui Feng Road, Yangpu District, Shanghai. Applicant after: Shanghai Survey, Design and Research Institute (Group) Co.,Ltd. Address before: 200093 No. 38 Shui Feng Road, Yangpu District, Shanghai. Applicant before: SGIDI ENGINEERING CONSULTING (Group) Co.,Ltd. Country or region before: China |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |