CN115615346A - Automatic monitoring method and monitoring device for tunnel and track deformation - Google Patents
Automatic monitoring method and monitoring device for tunnel and track deformation Download PDFInfo
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- CN115615346A CN115615346A CN202211630257.6A CN202211630257A CN115615346A CN 115615346 A CN115615346 A CN 115615346A CN 202211630257 A CN202211630257 A CN 202211630257A CN 115615346 A CN115615346 A CN 115615346A
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61D—BODY DETAILS OR KINDS OF RAILWAY VEHICLES
- B61D15/00—Other railway vehicles, e.g. scaffold cars; Adaptations of vehicles for use on railways
- B61D15/08—Railway inspection trolleys
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B61—RAILWAYS
- B61K—AUXILIARY EQUIPMENT SPECIALLY ADAPTED FOR RAILWAYS, NOT OTHERWISE PROVIDED FOR
- B61K9/00—Railway vehicle profile gauges; Detecting or indicating overheating of components; Apparatus on locomotives or cars to indicate bad track sections; General design of track recording vehicles
- B61K9/08—Measuring installations for surveying permanent way
Abstract
The invention discloses an automatic monitoring method and a monitoring device for tunnel and track deformation, which belong to the technical field of tunnel engineering and comprise the following steps: setting a reference point; setting a monitoring point; determining a running track and an incident angle of the laser range finder; measuring and installing a laser induction receiving sheet for the first time; editing and recording the laser irradiation distance and the irradiation position of the laser sensing receiving sheet; calculating the space coordinate of the irradiation position during the first measurement; monitoring and recording the driving track of the laser range finder again, and recording the laser irradiation distance and the irradiation position of each laser induction receiving piece; according to the automatic monitoring method and the monitoring device for tunnel and track deformation, the laser range finder is fixed on the rail car and provided with the balance compensation device, the laser range finder is parallel to the cross section of a tunnel during measurement, the laser range finder is erected on the rail car, and the angle controller is matched, so that fixed-point multi-angle automatic monitoring is realized, and the tracks of fixed monitoring points and multiple monitoring of the tunnels are fixed.
Description
Technical Field
The invention belongs to the technical field of tunnel engineering, and particularly relates to an automatic monitoring method and device for tunnel and track deformation.
Background
At present, the monitoring of tunnel deformation and track deformation is a huge work which needs manpower resources, and in the protective monitoring of high-speed rails and subways, the arrangement density of monitoring points required by design is very high, so that the realization of automatic monitoring of tunnels and tracks is one of the difficulties of the current tunnel engineering.
In the process of monitoring convergence and deformation of a tunnel and a track, a laser range finder is one of commonly used monitoring devices, and a plurality of parameters such as the track gauge, the clearance and the width of the tunnel are monitored in a handheld measuring mode, but the laser range finder has the following defects in the use process:
the laser range finder has lighter weight and smaller volume, and can damage the balance of the laser range finder and change the angle of laser in the manual operation process;
in the placing process of the laser range finder, the situation that the laser range finder is perpendicular to a track, namely parallel to the cross section of a tunnel is difficult to achieve, and data measured by the same monitoring point each time are difficult to control in the same plane, so that the data are inaccurate;
when the handheld laser range finder is used for fixed-point monitoring, only whether the position is deformed or not can be measured, the tunnel deformation form cannot be judged through the distance variation, and the deformation direction and the deformation of the track or the tunnel are calculated, so that the conventional problems are solved by researching and developing an automatic monitoring method and a monitoring device for the deformation of the tunnel and the track.
Disclosure of Invention
The invention aims to provide an automatic monitoring method and device for tunnel and track deformation, and aims to solve the problem that the deformation of a track and a tunnel cannot be automatically monitored.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic monitoring method of a device for judging tunnel and track deformation comprises the following steps:
setting a reference point;
setting a monitoring point;
determining a running track and an incident angle of the laser range finder;
measuring and installing a laser induction receiving sheet for the first time;
editing and recording the laser irradiation distance and the irradiation position of the laser induction receiving sheet;
calculating a space coordinate of an irradiation position during first measurement;
monitoring and recording the driving track of the laser range finder again, and recording the laser irradiation distance and the irradiation position of each laser induction receiving sheet at the moment;
calculating the space coordinate of the irradiation position originally measured for the first time;
the deformation direction and the deformation amount are calculated through the space coordinate change of the first irradiation position, and the tunnel deformation characteristic judgment is carried out, when the laser induction receiving sheet is arranged, the y-axis direction of the laser induction receiving sheet is the driving direction of a railway vehicle, light is propagated along a straight line, if the position of the laser irradiation point is different from that of the first irradiation point when the laser induction receiving sheet is measured again, the tunnel or the railway is definitely deformed, the position relation between the first recorded point and the second recorded point obtains a specific coordinate value through the laser induction receiving sheet, then the deformation direction and the deformation amount can be obtained, and if the position relation is the local deformation direction and the deformation amount, the tunnel change condition can be integrally controlled through combining the driving direction of the railway vehicle.
Preferably, the recording laser irradiation distance and the laser sensing reception sheet irradiation position include:
adjusting an angle controller to enable laser of a laser range finder to irradiate the tunnel wall and the side face of a track, installing laser sensing receiving sheets at the laser irradiation positions, recording the angle of the angle controller corresponding to each laser sensing receiving sheet, numbering the laser sensing receiving sheets, taking the position of the laser range finder at the initial position as a coordinate origin (0,0,0), taking the direction perpendicular to the ground as a z axis, the direction is vertically upward, the extending direction of the tunnel as a y axis, the direction is the advancing direction of a track car, the direction perpendicular to the extending direction of the tunnel is an x axis, and the direction points to the direction of the angle controller by 0 degree, namely the space coordinate position of the irradiation position of each laser sensing receiving sheet can be represented, the laser sensing receiving sheet with the angle of 30 degrees at the first monitoring point is 1-30 degrees, and the laser sensing receiving sheet with the angle of 60 degrees is … …; let the measuring distance of 1-30 degrees be x 01 Then the 1-30 position can be expressed as (x) 01 *cos30°，0，x 01 * sin30 deg., let the measuring distance of 1-60 deg. be x 02 Then the 1-60 position can be expressed as (x) 02 *cos60°，0，x 02 * sin60 °) … …, the relative position of the first irradiation spot at each laser-sensitive receiver sheet was recorded.
Preferably, the calculating the spatial coordinates of the irradiation position at the time of the first measurement includes:
the rail car moves to the first monitoring point, and the positioning of the laser range finder at the moment is determined as (a) according to the positioning information of the space coordinate reference station 1 ,b 1 ,c 1 ) And obtaining a form path of the laser distance meter between the two monitoring points: (a) 1 -0）=（b 1 -0）=（c 1 -0); each laser induction receiving sheet (1) is arranged and named in the same angle and manner, the laser induction receiving sheet (1) being opposite to the point (a) 1 ,b 1 ,c 1 ) The relative positions of (a) and (b) are: (x) 11 *cos30°，0，x 11 *sin30°）、（x 12 *cos60°，0，x 12 * sin60 deg. … …, by coordinate conversion, each laser induction of the first monitoring point is receivedThe space where the sheet is illuminated is expressed in absolute coordinates;
and installing and naming the laser sensing receiving pieces of all the monitoring points, and measuring the coordinates of the laser irradiation positions of the laser sensing receiving pieces to obtain the form track of the rail car, the space coordinates of the first irradiation position of each laser sensing receiving piece of each monitoring point and the relative position of the laser irradiation position at the laser sensing receiving piece during the first monitoring.
Preferably, the monitoring and recording the laser range finder driving track again comprises:
the method comprises the steps of placing a rail car at the same initial position for first monitoring, recording whether the coordinate of the initial position changes or not, recording the coordinate increment if the coordinate of the initial position changes, adjusting an angle controller to the same value as that of the first measurement, recording the laser incident distance corresponding to each laser sensing receiving sheet, calculating the relative coordinate and the absolute coordinate of the incident point of each laser sensing receiving sheet, recording the position of the incident point at the laser sensing receiving sheet, and measuring when the rail car reaches the next monitoring point until all the monitoring points finish the step, so that the driving track of a laser range finder, the spatial coordinate of the current irradiation position of each laser sensing receiving sheet at each monitoring point and the relative position of the laser irradiation position at the laser sensing receiving sheet during the first monitoring are obtained.
Preferably, the method for calculating the deformation direction and the deformation amount includes:
if the coordinate value of the laser range finder at the monitoring point exceeds a set error range during multiple monitoring, and coordinate increment (delta X, delta Y and delta Z) of the laser range finder is recorded, the tracks at two sides are subjected to overall settlement and lifting in an abnormal track range, namely Z coordinates are obviously changed, and overall displacement, namely X and Y coordinates are obviously changed, so that relative coordinates of subsequent measurement results are not influenced, calculation of local deformation direction and deformation is not influenced, and when absolute coordinate conversion of a reference station is carried out, the coordinate increment needs to be added to influence the overall deformation characteristic of the tunnel;
the calculation of the local deformation direction and the deformation amount comprises the following steps:
starting with the laser induction receiving sheet of the first monitoring point, if the first monitoring is 1-30 degrees, the measurement of the laser range finder is carried outA distance x 01 Then the relative coordinate of the first laser irradiation point is (x) 01 *cos30°，0，x 01 *sin30°）；
During the second monitoring, the measuring distance of the laser range finder is x 01 （1） Then, the relative coordinate of the laser irradiation point during the monitoring is (x) 01 （1） *cos30°，0，x 01 （1） * sin30 °), because the size of the square laser induction receiving sheet is smaller than the distance from the laser emitting point to the laser induction receiving sheet, the square laser induction receiving sheet is taken as a plane perpendicular to the laser incidence direction, the length of one edge of the square laser induction receiving sheet is parallel to the tunnel extension direction, the relative coordinate of the forward direction of the square laser induction receiving sheet pointing to the rail car is recorded as b, the other edge of the square laser induction receiving sheet is perpendicular to the tunnel extension direction and the laser incidence direction, and the relative coordinate is recorded as a;
if the first laser incidence position is (a) 0 ，b 0 ) The next time of monitoring, the laser incidence position is (a) i ，b i ) Then, the coordinate variation in the tunnel extending direction, i.e., the y-axis direction, is b 0 -b i The amount of coordinate change in the direction perpendicular to the ground, i.e., the z-axis direction, is (a) 0 -a i ) Sin (90-30 deg.) and the coordinate variation in the direction parallel to the angle controller 0 deg. is (a) 0 -a i ) Cos (90-30 deg.), and the position of the first irradiated spot was changed to (x) during the second monitoring 01 （1） *cos30°+（a 0 -a i ）*cos（90°-30°），b 0 -b i ，x 01 （1） *sin30°+（a 0 -a i ) Sin (90 ° -30 °)) relative coordinates (x) to the first irradiation spot 01 *cos30°，0，x 01 * sin30 deg. compared, the direction of the vector formed by connecting the two coordinates is the relative deformation direction of the tunnel or rail, and the length of the vector is the deformation of the tunnel or rail.
Preferably, the deformation feature determination includes:
integral deformation: when the same monitoring point is used for multiple measurements, the front coordinate and the rear coordinate of the laser range finder in the absolute coordinate system of the space coordinate reference station are changed beyond the error range, the relative coordinate of each laser sensing receiving piece is changed correspondingly in increment, the coordinate of the laser range finder measured for the first time is taken as a vector starting point, the coordinate of the laser range finder measured for the last time is taken as a vector terminal point, the direction of the vector is the integral deformation direction of the tunnel or the track, the length of the vector is the integral deformation of the tunnel or the track, and the tunnel and the track are subjected to integral settlement, lifting or lateral displacement at the moment;
local deformation: if the laser sensing receiving sheet on the tunnel or the track has local displacement, the deformation direction and the deformation of the tunnel or the track can be judged according to the local deformation direction and the deformation calculation method, the monitoring results of a plurality of monitoring points are combined, if the displacement directions of the laser sensing receiving sheets on the front section and the rear section of the tunnel are close, the stress direction received in one section of the tunnel is consistent, the maximum deformation position is close to a stress point, if the displacement directions of the laser sensing receiving sheets on the front section and the rear section of the tunnel are not consistent, the tunnel is stressed in a plurality of directions, and the maximum deformation position in each direction is close to the stress action point of the direction.
The invention also provides a device for monitoring tunnel and track deformation, which comprises:
the laser induction receiving sheet is arranged on the tunnel or the track and used for capturing and positioning laser;
the laser range finder is matched with the laser induction receiving sheet and used for measuring the distance;
the angle controller is used for adjusting the laser irradiation direction of the laser range finder;
the automatic balance compensator is provided with an angle controller;
the positioning transmitter is arranged on the laser range finder and used for positioning the laser range finder;
and the space coordinate reference station is arranged at the position of the reference position for receiving the laser range finder.
Preferably, the apparatus further comprises:
the rail car is used for bearing the balance automatic compensator and moving along the rail;
and the monitoring points are arranged in the tunnel route and are used for stopping and monitoring the rail car at the monitoring position.
Preferably, a balance automatic compensator, an angle controller and a laser range finder are erected on the rail car and perpendicular to the rail direction, so that the laser range finder can rotate in parallel to the cross section of the tunnel.
Preferably, the laser sensing receiving sheet is square, one side of the laser sensing receiving sheet is parallel to the extending direction of the tunnel when the laser sensing receiving sheet is installed, the positive direction points to the extending direction of the tunnel, and the normal direction is parallel to the laser irradiation direction.
The invention has the technical effects and advantages that: according to the automatic monitoring method and the monitoring device for the tunnel and the track deformation, the laser range finder is fixed on the railcar and is provided with the balance compensation device, so that the laser range finder is parallel to the cross section of the tunnel when in measurement, the laser range finder is erected on the railcar and is matched with the angle controller, fixed-point multi-angle automatic monitoring is realized, and the multi-position monitoring of the track and the tunnel at a fixed monitoring point is realized; a monitoring bayonet is arranged in the tunnel, so that the rail car stops moving forward at a designated position and carries out automatic and accurate measurement, thereby avoiding artificial operation errors and ensuring data accuracy; an angle controller is arranged below the laser range finder, the measuring angle of the laser range finder is accurately controlled, and a plurality of position parameters of the tunnel and the track are measured at the same measuring bayonet; the laser sensing receiving sheet is arranged at the fixed monitoring position comprising the tunnel and the track at the appointed position of each monitoring bayonet, and the accurate position irradiated by the laser can be recorded, so that the deformation direction and the deformation of the track or the tunnel at the position can be accurately recorded; the method has the advantages that a space coordinate reference station is erected on a reference where settlement deformation does not occur, a coordinate system is established, the initial position of the laser range finder during initial measurement is used as the origin of coordinates, the space coordinate system is established, whether overall settlement occurs in the tunnel and the track can be evaluated, and meanwhile, the deformation direction and deformation of each monitoring position of the tunnel and the track can be accurately calculated through the coordinate system;
the invention solves the problem that the deformation of the track and the tunnel cannot be automatically monitored, accurately judges the deformation form, the deformation direction and the deformation amount of the track and the tunnel, measures the distance at fixed points and multiple angles by using a laser distance measuring instrument, simultaneously accurately records the irradiation position of laser during each measurement by using a laser sensing receiving sheet, reflects the deformation characteristics, the deformation direction and the deformation amount of the tunnel and the track in a form of constructing a space coordinate system through the change of the irradiation position of the laser, and plays a role in guiding the analysis of the stress condition of the tunnel and the track and the finding of the deformation reason; a space coordinate system is established by taking the initial position of the laser range finder as the origin of coordinates, the space coordinate change quantity of the tunnel or the track at the monitoring position can be accurately reflected through the laser induction receiving sheet, and the deformation position and the deformation characteristic of the tunnel can be accurately reflected; the laser range finder and the laser induction receiving sheet are used for monitoring, the precision is high, the cost is low, and the use is convenient.
Drawings
FIG. 1 is a flow chart of the present invention;
FIG. 2 is a schematic view of the measurement method of the present invention;
FIG. 3 is a schematic diagram of the first time incident point coordinate calculation of the present invention;
fig. 4 is a schematic view of the installation of the monitoring device of the present invention.
In the figure: 1. a laser induction receiving sheet; 2. a laser range finder; 3. an angle controller; 4. a balance automatic compensator; 5. provided is a rail car.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
The present invention further provides an automated monitoring method for a device for determining tunnel and track deformation as shown in fig. 1 and fig. 2, comprising:
step 4, adjusting the angle controller 3 according to monitoring requirements, enabling the laser of the laser range finder 2 to irradiate the tunnel wall and the side surface of the track, installing a laser induction receiving sheet 1 at the laser irradiation position, wherein the laser induction receiving sheet is square and has directivity, one side of the laser induction receiving sheet is ensured to be parallel to the tunnel extending direction in the installation process, the positive direction points to the tunnel extending direction, and the normal direction of the receiving sheet is parallel to the laser incidence direction at the same time, the installation mode is convenient to convert the displacement of the incident point of the laser on the laser induction receiving sheet 1 from the coordinate system of the laser induction receiving sheet 1 into the coordinate system taking the laser emission point as the origin of coordinates, not only can the front and back space displacement condition of the same position on the tunnel be conveniently calculated, but also the front and back displacement of the incident point is recorded by utilizing the laser induction receiving sheet 1, and the equipment error is greatly reduced, because if the laser range finder 2 is taken as a main body, the front and back spatial displacement condition of the same point on the tunnel is recorded, and the incident angle and distance of the laser are related, because the emitting position of the laser range finder 2 is far away from the tunnel, about 10 meters, the equipment error can be amplified, for example, the equipment error of the angle of the laser range finder 2 on the market is about 0.01 °, if the incident distance is 10m, the displacement error on a paper sheet can reach 1.7cm, and the direction of the error can not be determined, and the front and back displacement conditions of the same position on the tunnel are calculated by using the displacement of the incident point on the laser sensing receiving sheet 1, the displacement can not only be accurate to 0.001cm, but also the direction of the displacement can be ensured not to generate large deviation, the angle controller 3 angle corresponding to each laser sensing receiving sheet 1 at the moment is recorded, and is numbered, for example: 1 monitoring point, the laser induction receiving sheet 1 with an angle of 30 degrees is 1-30 degrees, and the laser induction receiving sheet 1 with an angle of 60 degrees is1-60 degrees … …, and taking the position of the laser range finder 2 at the initial position as the coordinate origin (0,0,0), the direction perpendicular to the ground as the z-axis, the direction vertically upward, the tunnel extending direction as the y-axis, the direction as the advancing direction of the rail car 5, the direction perpendicular to the tunnel extending direction as the x-axis, and the direction pointing to the 0 ° direction of the angle controller 3, can represent the spatial coordinate position of each receiving slice, such as: let the measuring distance of 1-30 degree receiving sheet be x 01 The position of the 1-30 receiving sheet can be expressed as (x) 01 *cos30°，0，x 01 * sin30 deg. and let the measuring distance of 1-60 deg. receiving sheet be x 02 The position of the 1-60 receiving sheet can be expressed as (x) 02 *cos60°，0，x 02 * sin60 °) … …, recording the relative positions of the first irradiation points at the laser induction receiving sheets;
step 6, as shown in fig. 3, installing and naming the laser sensing receiving pieces 1 of all monitoring points according to the step 5, measuring the coordinates of the laser irradiation positions, so that the laser sensing receiving pieces 1 are installed for the first time and the measurement is completed, obtaining the form track of the rail car 5 and the space coordinates of the first irradiation positions of the laser sensing receiving pieces 1 of all monitoring points, and simultaneously obtaining the relative positions of the laser irradiation positions at the laser sensing receiving pieces 1 during the first monitoring;
and 7, when the next monitoring time comes, placing the rail car 5 at the same initial position, recording whether the coordinate of the initial position changes or not, if the coordinate increment of the rail car changes, recording the coordinate increment of the rail car, wherein the increment does not influence the relative coordinate of a subsequent measurement result, but when the absolute coordinate of the reference station is converted, adding the coordinate increment, adjusting the angle controller 3 to the value which is the same as that of the first measurement, recording the corresponding laser incident distance of each laser induction receiving sheet 1, calculating the relative coordinate and the absolute coordinate of the incident point of each receiving sheet, recording the position of the incident point left at the receiving sheet, once the tunnel deforms, the coordinate points incident twice are definitely different in the receiving sheet, the point incident twice is connected to the point incident for the first time, and the formed vector is the deformation direction and the deformation of the tunnel, and the rail is also a photosensitive element, and the rail can be sensed according to the photosensitive resistance at the back of each point of the laser induction receiving sheet 1. After the monitoring is finished, the rail car 5 is driven to carry all the equipment such as the laser range finder 2 and the like to reach the next monitoring point, the same measurement work is finished until all the monitoring points finish the step, the monitoring work in the period is finished, the running track of the laser range finder 2 and the space coordinates of the irradiation position of each laser induction receiving piece 1 of each monitoring point are obtained, and meanwhile, the relative position of the laser irradiation position at the receiving piece during the first monitoring is obtained;
step 8, calculating the deformation direction and deformation amount of the tunnel or the track and judging the deformation characteristics of the tunnel:
if the coordinates of the monitoring point laser range finder 2 change beyond the error allowable range during multiple monitoring, and coordinate increments (delta X, delta Y and delta Z) of the monitoring point laser range finder are recorded, then in the range of the abnormal tracks, the tracks on the two sides are subjected to overall settlement and lifting, namely the Z coordinates are obviously changed, and the overall displacement, namely the X and Y coordinates are obviously changed, so that the relative coordinates of subsequent measurement results are not influenced, the calculation of local deformation direction and deformation amount is not influenced, but when the absolute coordinate of a reference station is converted, the coordinate increments are required to be added, and the overall deformation characteristic of the tunnel is influenced;
calculating the local deformation direction and deformation amount:
taking the recording result of a certain laser induction receiving sheet of a certain monitoring point as an example, if the laser induction receiving sheet 1 with the angle of 1-30 degrees is monitored for the first time, the measuring distance of the laser range finder 2 is x 01 Then the relative coordinate of the first laser irradiation point is (x) 01 *cos30°，0，x 01 *sin30°）；
During the second monitoring, the measuring distance of the laser range finder 2 is x 01 （1） Then the relative coordinate of the laser irradiation point at the time of the monitoring is (x) 01 （1） *cos30°，0，x 01 （1） * sin30 °), because of the size of the square laser sensing receiving sheet 1, the side length is about 3cm and is far less than the distance from the laser emitting point to the receiving sheet 1, the square laser sensing receiving sheet can be seen as a plane perpendicular to the laser incidence direction, the length of one side is parallel to the tunnel extension direction, the relative coordinate of the forward direction pointing to the rail car 5 is marked as b, the other side is perpendicular to the tunnel extension direction and the laser incidence direction, and the relative coordinate is marked as a;
if the first laser incidence position is (a) 0 ，b 0 ) In the next monitoring, the laser beam incident position is (a) i ，b i ) Then, the coordinate variation in the tunnel extending direction, i.e., the y-axis direction, is b 0 -b i The amount of coordinate change in the direction perpendicular to the ground, i.e., the z-axis direction, is (a) 0 -a i ) Sin (90-30 deg.) and the coordinate variation in the direction parallel to the angle controller 0 deg. is (a) 0 -a i ) Cos (90 ° -30 °), so that the position of the first irradiated spot changes to (x) at the second monitoring 01 （1） *cos30°+（a 0 -a i ）*cos（90°-30°），b 0 -b i ，x 01 （1） *sin30°+（a 0 -a i ) Sin (90 ° -30 °)) relative coordinates (x) to the first irradiation spot 01 *cos30°，0，x 01 * sin30 deg. compared, the direction of the vector formed by connecting two coordinates is the relative deformation direction of the tunnel or track, the expression of the vector is (x) 01 *cos30°-x 01 （1） *cos30°-（a 0 -a i ）*cos（90°-30°），-b 0 +b i， ，x 01 *sin30°-x 01 （1） *sin30°-（a 0 -a i ) Sin (90 ° -30 °)); the length of the vector is the deformation of the tunnel or the track; the deformation direction and the deformation are represented by the front and back positions of the incident point, but the deformation direction and the deformation are difficult to visually represent the deformation direction and the deformation of the tunnel in a coordinate system where the receiving sheet is located, and the deformation direction and the deformation need to be converted into the relative system and the absolute system, so that the deformation condition of the tunnel or the track can be conveniently analyzed.
And (3) judging the deformation characteristics of the track and the tunnel:
in the aspect of integral deformation, when the same monitoring point is measured for multiple times, the front coordinate and the rear coordinate of the laser range finder 2 in the absolute coordinate system of the space coordinate reference station are changed when exceeding an error range, the relative coordinate of each laser sensing receiving sheet 1 is changed in corresponding increment, the coordinate of the laser range finder 2 measured for the first time is taken as a vector starting point, the coordinate of the laser range finder 2 measured for the last time is taken as a vector terminal point, the direction of the vector is the integral deformation direction of the tunnel or the track, the length of the vector is the integral deformation of the tunnel or the track, and at the moment, the tunnel and the track are subjected to integral settlement, lifting or lateral displacement;
in the aspect of local deformation, if the laser sensing receiving sheet 1 on the tunnel or the track has local displacement, according to the calculation method, the deformation direction and the deformation amount of the tunnel or the track can be judged, and by combining the monitoring results of a plurality of monitoring points, if the displacement directions of the laser sensing receiving sheets 1 on the front section and the rear section of the tunnel are approximately close, the stress direction received in one section of the tunnel is consistent, the maximum deformation amount is close to a stress point, if the displacement directions of the laser sensing receiving sheets 1 on the front section and the rear section of the tunnel are not consistent, the tunnel is stressed in a plurality of directions, and the maximum deformation amount in each direction is close to the stress point of the direction;
the present invention further provides a device for monitoring deformation of tunnel and track as shown in fig. 4, which comprises:
the system comprises a rail car 5, a positioning transmitter, a balance automatic compensator 4, such as a balance automatic compensator and an angle controller 3, wherein the control range of the angle controller 3 is 0-360 degrees, a laser range finder 2, a laser induction receiving sheet 1, such as a photosensitive receiving sheet, a space coordinate reference station and a deformation characteristic processor; the rail car 5 plays a role in transportation and runs on the rail, the automatic balance compensator 4 is installed on the rail car 5, the angle controller 3 is arranged on the automatic balance compensator 4 and used for adjusting the laser emission direction, the laser range finder 2 is installed on the automatic balance compensator 4, and the positioning transmitter is arranged at the bottom of the laser range finder 2 and used for positioning the laser range finder; the laser induction receiving sheet 1 is arranged on the track and the tunnel at a fixed point and used for capturing and accurately positioning laser; the space coordinate reference station is erected at a reference position and used for receiving the position of the laser range finder all the time, judging whether the position where the space coordinate reference station is located is settled and deformed or not, better recording the position information of each monitoring point, and processing the deformation direction, the deformation amount and the deformation characteristics of the tunnel and the track to obtain a conclusion, wherein the reference position is required to have no settlement and deformation.
In the prior art, when monitoring tunnels and tracks, various laser directions and distances are mainly monitored from a laser irradiation position, the same position on the tunnel or the track is monitored, and is converted into space coordinates to calculate the deformation direction and the deformation amount of the track or the tunnel according to the angle and the distance change of laser, so that the result is inaccurate due to the large laser distance and the influence of equipment errors, and the data is difficult to use;
the monitoring method in the scheme keeps the direction of the laser unchanged, the monitored position is changed, the receiving sheet can be used for clearly recording the laser which is transmitted linearly according to the laser linear transmission principle, the position change of the laser which is transmitted to the tunnel is kept, the change is recorded through the receiving sheet, the deformation direction and the deformation amount of the tunnel are calculated through coordinate conversion, the linear transmission of the laser has no error, the deformation condition of the tunnel is represented through the displacement change of the incident point of the tunnel, the further amplification of equipment errors caused by overlarge incident distance is avoided, the monitoring result is more accurate, and the reliability of data is high;
according to the automatic monitoring method and the monitoring device for the tunnel and the track deformation, the laser range finder 2 is fixed on the railcar 5 and is provided with the balance compensation device, so that the laser range finder 2 is parallel to the cross section of the tunnel during measurement, the laser range finder 2 is erected on the railcar 5 and is matched with the angle controller 3, fixed-point multi-angle automatic monitoring is realized, and the multi-position monitoring of the track and the tunnel at a fixed monitoring point is realized; a monitoring bayonet is arranged in the tunnel, so that the rail car 5 stops moving forward at a designated position and carries out automatic and accurate measurement, thereby avoiding artificial operation errors and ensuring data accuracy; an angle controller 3 is arranged below the laser range finder 2, the measuring angle of the laser range finder 2 is accurately controlled, and a plurality of position parameters of a tunnel and a track are measured at the same measuring bayonet; the laser sensing receiving sheet 1 is arranged at a fixed monitoring position comprising a tunnel and a track at the appointed position of each monitoring bayonet, and can record the accurate position irradiated by laser so as to accurately record the deformation direction and the deformation amount of the track or the tunnel at the position; a space coordinate reference station is erected on a reference where settlement deformation does not occur, a coordinate system is established, the initial position of the laser range finder during initial measurement is used as the origin of coordinates, the space coordinate system is established, whether integral settlement occurs in the tunnel and the track can be evaluated, and meanwhile, the deformation direction and the deformation amount of each monitoring position of the tunnel and the track can be accurately calculated through the coordinate system;
the invention solves the problem that the deformation of the track and the tunnel cannot be automatically monitored, accurately judges the deformation form, the deformation direction and the deformation amount of the track and the tunnel, measures the distance by using a laser distance meter 2 at fixed points and multiple angles, simultaneously accurately records the irradiation position of laser during each measurement by using a laser sensing receiving sheet 1, and reflects the deformation characteristics, the deformation direction and the deformation amount of the tunnel and the track in the form of a space coordinate system by the change of the irradiation position of the laser so as to play a guiding role in analyzing the stress condition of the tunnel and the track and finding out the deformation reason; a space coordinate system is set up by taking the initial position of the laser range finder 2 as the origin of coordinates, the space coordinate variation of the tunnel or the track at the monitoring position can be accurately reflected through the laser sensing receiving sheet 1, and the deformation position and the deformation characteristic of the tunnel can be accurately reflected; the laser range finder 2 and the laser induction receiving sheet 1 are used for monitoring, the precision is high, the cost is low, and the use is convenient.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.
Claims (10)
1. An automatic monitoring method for tunnel and track deformation is characterized in that: the method comprises the following steps:
setting a reference point;
setting a monitoring point;
determining a running track and an incident angle of the laser range finder (2);
measuring and installing a laser induction receiving sheet (1) for the first time;
editing and recording the laser irradiation distance and the irradiation position of the laser induction receiving sheet (1);
calculating a space coordinate of an irradiation position during first measurement;
monitoring and recording the driving track of the laser range finder (2) again, and recording the laser irradiation distance of each laser induction receiving sheet (1) and the irradiation position of each laser induction receiving sheet (1);
calculating the space coordinate of the irradiation position originally measured for the first time;
and calculating the deformation direction and the deformation amount through the space coordinate change of the two irradiation positions, and judging the deformation characteristic of the tunnel.
2. The method of claim 1, wherein the method comprises the following steps: the recording laser irradiation distance and the irradiation position of the laser induction receiving sheet (1) comprise:
adjusting an angle controller (3), enabling laser of a laser range finder (2) to irradiate the tunnel wall and the side face of a track, installing laser sensing receiving sheets (1) at the laser irradiation positions, recording the angle of the angle controller (3) corresponding to each laser sensing receiving sheet (1), numbering the laser sensing receiving sheets, taking the position of the laser range finder (2) at the initial position as a coordinate origin (0,0,0), taking the direction perpendicular to the ground as a z-axis, the direction is vertically upward, the extending direction of the tunnel as a y-axis, the direction is the advancing direction of a track car (5), the direction perpendicular to the extending direction of the tunnel as an x-axis, and the direction points to the angle controller (3) in a 0-degree direction, namely representing the space coordinate position of the irradiation position of each laser sensing receiving sheet (1), wherein the angle of the laser sensing receiving sheet (1) of the first monitoring point is 30 degrees, and the angle of the laser sensing receiving sheet (1) of 60 degrees is … … degrees; let the measuring distance of 1-30 degrees be x 01 Then the position of 1-30 is indicated as (x) 01 *cos30°，0，x 01 * sin30 deg., let the measuring distance of 1-60 deg. be x 02 And the position of 1-60 is expressed as (x) 02 *cos60°，0，x 02 * sin60 deg. … …, the relative position of the first irradiation spot at each laser sensing receiver sheet (1) is recorded.
3. The method of claim 1, wherein the method comprises the following steps: the calculating the space coordinate of the irradiation position at the first measurement comprises:
the rail car (5) moves to a first monitoring point, and the positioning of the laser range finder (2) at the moment is determined as (a) according to the positioning information of the space coordinate reference station 1 ,b 1 ,c 1 ) And obtaining a form path of the laser range finder (2) between the two monitoring points: (a) 1 -0）=（b 1 -0）=（c 1 -0); each laser induction receiving sheet (1) is arranged and named in the same angle and manner, and the laser induction receiving sheets (1) are opposite to the point (a) 1 ,b 1 ,c 1 ) The relative positions of (a) and (b) are: (x) 11 *cos30°，0，x 11 *sin30°）、（x 12 *cos60°，0，x 12 * sin60 degree … …, and expressing the space of each laser induction receiving sheet (1) irradiation position of the first monitoring point by absolute coordinates through coordinate conversion;
and installing and naming the laser sensing receiving pieces (1) of all monitoring points, measuring the coordinates of the laser irradiation positions of the laser sensing receiving pieces to obtain the form track of the rail car (5), the space coordinates of the first irradiation position of each laser sensing receiving piece (1) of each monitoring point and the relative position of the laser irradiation position at the laser sensing receiving piece (1) during the first monitoring.
4. The method of claim 1, wherein the method comprises the following steps: the monitoring and recording the driving track of the laser range finder (2) again comprises the following steps:
the method comprises the steps of placing a railcar (5) at the same initial position for the first monitoring, recording whether the coordinate of the initial position changes or not, recording the coordinate increment if the coordinate of the initial position changes, adjusting an angle controller (3) to the same value as that for the first measurement, recording the laser incident distance corresponding to each laser sensing receiving sheet (1), calculating the relative coordinate and the absolute coordinate of the incident point of each laser sensing receiving sheet (1), recording the position of the incident point left by the railcar at the laser sensing receiving sheet (1), and measuring when the railcar (5) reaches the next monitoring point until all the monitoring points finish the step to obtain the running track of a laser range finder (2) and the spatial coordinate of the current irradiation position of each laser sensing receiving sheet (1) at each monitoring point and the relative position of the laser irradiation position at the laser sensing receiving sheet (1) during the first monitoring.
5. The method according to claim 1, wherein the method comprises the following steps: the method for calculating the deformation direction and the deformation amount comprises the following steps:
if the coordinate values of the monitoring points and the laser range finder (2) exceed a set error range during multiple monitoring, and coordinate increments (delta X, delta Y and delta Z) of the monitoring points and the laser range finder are recorded, the tracks on two sides are subjected to integral settlement and lifting in an abnormal track range, namely Z coordinates are obviously changed, integral displacement, namely X and Y coordinates are obviously changed, relative coordinates of subsequent measurement results are not influenced, calculation of local deformation directions and deformation are not influenced, and when absolute coordinate conversion of a reference station is carried out, the coordinate increments are required to be added to influence the integral deformation characteristics of a tunnel;
the calculation of the local deformation direction and the deformation amount comprises the following steps:
starting with the laser induction receiving sheet (1) of the first monitoring point, if the first monitoring is 1-30 degrees, the measuring distance of the laser range finder (2) is x 01 Then the relative coordinate of the first laser irradiation point is (x) 01 *cos30°，0，x 01 *sin30°）；
During the second monitoring, the measuring distance of the laser range finder (2) is x 01 （1） Then, the relative coordinate of the laser irradiation point during the monitoring is (x) 01 （1） *cos30°，0，x 01 （1） * sin30 degrees), because the size of the square laser induction receiving sheet (1) is smaller than the distance from a laser emitting point to the laser induction receiving sheet (1), the square laser induction receiving sheet is taken as a plane vertical to the incident direction of laser, the length of one side of the square laser induction receiving sheet is parallel to the extending direction of the tunnel, the relative coordinate of the advancing direction of the direction pointing to the rail car (5) is marked as b, the other side of the square laser induction receiving sheet is vertical to the extending direction of the tunnel and the incident direction of the laser, and the relative coordinate is marked as a;
if the first laser incidence position is (a) 0 ，b 0 ) The laser incident position is monitored next timeIs set as (a) i ，b i ) Then, the coordinate variation in the tunnel extending direction, i.e., the y-axis direction, is b 0 -b i The amount of change in the coordinate in the direction perpendicular to the ground, i.e., the z-axis direction is (a) 0 -a i ) Sin (90-30 deg.) and the amount of change in the coordinate in the direction parallel to the angle controller 0 deg. is (a) 0 -a i ) Cos (90-30 deg.), and the position of the first irradiated spot was changed to (x) during the second monitoring 01 （1） *cos30°+（a 0 -a i ）*cos（90°-30°），b 0 -b i ，x 01 （1） *sin30°+（a 0 -a i ) Sin (90 ° -30 °)) relative coordinates (x) to the first irradiation spot 01 *cos30°，0，x 01 * sin30 deg. compared, the direction of the vector formed by connecting the two coordinates is the relative deformation direction of the tunnel or rail, and the length of the vector is the deformation of the tunnel or rail.
6. The method of claim 1, wherein the method comprises the following steps: the judging of the tunnel deformation characteristics comprises the following steps:
integral deformation: when the same monitoring point is used for multiple measurements, the front coordinate and the rear coordinate of the laser range finder (2) in the absolute coordinate system of the space coordinate reference station are changed beyond the error range, the relative coordinate of each laser sensing receiving sheet (1) is changed in corresponding increment, the coordinate of the laser range finder (2) which is measured for the first time is used as a vector starting point, the coordinate of the laser range finder (2) which is measured for the last time is used as a vector terminal point, the direction of the vector is the integral deformation direction of the tunnel or the track, the length of the vector is the integral deformation of the tunnel or the track, and the tunnel and the track are subjected to integral settlement, lifting or lateral displacement at the moment;
local deformation: if the laser induction receiving sheet (1) on the tunnel or the track has local displacement, the deformation direction and the deformation of the tunnel or the track can be judged according to the local deformation direction and the deformation calculation method, the monitoring results of a plurality of monitoring points are combined, if the displacement directions of the laser induction receiving sheets (1) on the front section and the rear section of the tunnel are close, the stress direction received in the section area of the tunnel is consistent, the maximum deformation position is close to a stress point, if the displacement directions of the laser induction receiving sheets on the front section and the rear section of the tunnel are not consistent, the tunnel is stressed in a plurality of directions, and the maximum deformation position of each direction is close to the stress action point of the stress in the direction.
7. Monitoring device using a method for the automated monitoring of tunnel and rail deformations according to any of claims 1 to 6, characterized in that: the method comprises the following steps:
the laser induction receiving piece (1), wherein the laser induction receiving piece (1) is arranged on a tunnel or a track and is used for capturing and positioning laser;
the laser range finder (2), the said laser range finder (2) is used for measuring the distance with the laser induction receiving sheet (1) matching;
the angle controller (3), the said angle controller (3) is used for adjusting the laser irradiation direction of the laser range finder (2);
the automatic balance compensator (4), the angle controller (3) is installed on the automatic balance compensator (4);
the positioning transmitter is arranged on the laser range finder (2) and used for positioning the laser range finder;
and the space coordinate reference station is arranged at a reference position and used for receiving the position of the laser range finder (2).
8. A monitoring device according to claim 7, wherein: the monitoring device further comprises:
the rail car (5), the said rail car (5) is used for bearing the balance automatic compensator (4) and moving along the orbit;
and the monitoring points are arranged in the tunnel route and are used for stopping and monitoring the rail car (5) at the monitoring position.
9. A monitoring device according to claim 7, wherein: a balance automatic compensator (4), an angle controller (3) and a laser range finder (2) are erected on the rail car (5) and perpendicular to the rail direction, so that the laser range finder (2) can rotate in parallel to the cross section of the tunnel.
10. A monitoring device according to claim 7, wherein: the laser induction receiving sheet (1) is square, one side of the laser induction receiving sheet is parallel to the extending direction of the tunnel when the laser induction receiving sheet is installed, the positive direction of the laser induction receiving sheet points to the extending direction of the tunnel, and the normal direction of the laser induction receiving sheet is parallel to the laser irradiation direction.
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| CN116817871A (en) * | 2023-05-04 | 2023-09-29 | 中建铁路投资建设集团有限公司 | Automatic monitoring system for operating subway station |
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