CN116793246A - Quick check out test set of tunnel segment deformation - Google Patents
Quick check out test set of tunnel segment deformation Download PDFInfo
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- CN116793246A CN116793246A CN202310253536.3A CN202310253536A CN116793246A CN 116793246 A CN116793246 A CN 116793246A CN 202310253536 A CN202310253536 A CN 202310253536A CN 116793246 A CN116793246 A CN 116793246A
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- 238000012360 testing method Methods 0.000 title claims description 7
- 238000001514 detection method Methods 0.000 claims abstract description 46
- 238000005259 measurement Methods 0.000 claims abstract description 34
- 238000003325 tomography Methods 0.000 claims abstract description 26
- 239000002184 metal Substances 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims description 15
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- 101100545272 Caenorhabditis elegans zif-1 gene Proteins 0.000 claims description 5
- 238000004364 calculation method Methods 0.000 description 31
- 238000012423 maintenance Methods 0.000 description 14
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- 239000000428 dust Substances 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
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- 238000007781 pre-processing Methods 0.000 description 2
- 230000001172 regenerating effect Effects 0.000 description 2
- 238000012502 risk assessment Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
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- 238000011002 quantification Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
- G06F9/5061—Partitioning or combining of resources
- G06F9/5072—Grid computing
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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Abstract
The invention relates to a rapid detection device for deformation of tunnel segments, which comprises a track advancing measurement module, a laser tomography system, a vehicle laser radar device, an alarm output system, an adjustable RFID reading system, an anti-metal tag, an edge computing system and a local display system. The vehicle traveling control system scans the front situation of the vehicle through the vehicle laser radar equipment, the edge computing system drives the vehicle to advance according to the front state, and the edge computing system and the RFID reading system read the tag data information of the anti-metal tag corresponding to the tunnel segment.
Description
Technical Field
The invention relates to the technical field of rapid detection equipment for deformation of tunnel segments, in particular to rapid detection equipment for deformation of tunnel segments.
Background
The shield segment is a main assembly component for shield construction, is the innermost barrier of a tunnel, and plays roles of resisting soil layer pressure, underground water pressure and some special loads. The shield segment is a permanent lining structure of the tunnel by a shield method, and the quality of the shield segment is directly related to the overall quality and safety of the tunnel, so that the waterproof performance and the durability of the tunnel are affected. And ensuring that the tunnel can safely run for a long time when the deformation of the tunnel shield segment is rapidly measured in daily operation and maintenance.
Tunnel segments of shield tunnel segments are typically of rigid concrete construction. Typically continuous measurement of its deformation may allow time-domain multiple data comparisons of measurement data for specific areas of its inner diameter surface to obtain its deformation and risk data.
The invention aims at processing a large amount of high-precision coordinate measurement data generated by the detection of an autonomous mobile track carrier carrying laser total station and a fault scanning device and providing the functions of data coding, trend analysis, data storage, alarm and the like for the corresponding data in the current process of detecting the tunnel segment by adopting laser point cloud equipment. And analyzing the time sequence deformation data of the tunnel segment according to the data to obtain the deformation state and trend of the tunnel segment. By collecting and summarizing data. And judging the deformation state and trend change of the segment in the comparison of the historical data of different time periods. Recording deformation trend and providing quantifiable deformation evolution process data for the later-stage tunnel segment risk backtracking and the safety maintenance process of providing related tunnel shield segments.
The original manual positioning or marking positioning mode is generally used in the measurement process, and the mode reduces the efficiency of the measurement process and increases the waiting time of the process due to the fact that personnel are required to position the annular measurement data of the monitored tunnel shield segments for a long time. Resulting in excessively long time for final segment safety deformation monitoring. And the measurement process is usually continuously monitored in the maintenance window period in the operation and maintenance period of the tunnel shield segment. Thereby delaying the time interval for deformation fault discovery. However, the data volume which is usually generated by the laser tunnel fault detection equipment can exceed 100 ten thousand points/second, and the effective sample quantity for monitoring the single shield segment is about 3000 to 5000 points of single fault. The shield segments in each station interval are more than 2000-4000. The whole tunnel is usually divided into more than 30 sections. The detection coordinate point position of a single tunnel shield segment reaches approximately 3 hundred million coordinate points and approximately 6 hundred million data. A minimum of 2 data detections is required for data comparison in different time domains. The measurement data of approximately 12 hundred million pieces of data can ensure the minimum front and back two-time variable quantity analysis of the deformation of the tunnel shield segment. And 12 hundred million data need to be subjected to huge amount comparison, analysis, calculation and retrieval of the data, and then tunnel field personnel can timely find abnormal deformation in the laser point cloud data of the tunnel shield segment. If a larger time span of data analysis is required, the collection, transmission and computational analysis of these vast amounts of data will result in a significant amount of time costs and computational storage resource pressures. It is these measurements that the huge pressure of transmission and computation resources will lead to a larger sensitive time window for deformation detection in tunnel shield segment detection projects. When the deformation problem of the tunnel segment occurs. The problem of the duct piece cannot be found in time. And the real-time performance and the treatment and maintenance effectiveness of the segment in question are greatly delayed. The method can not provide alarming and maintenance quantification basis for real-time deformation disasters for tunnel shield segment safety detection and operation.
Disclosure of Invention
(1) Technical problem to be solved
The technical scheme provides a rapid detection method and equipment for deformation trend of a tunnel segment based on a laser range finder and automatic walking equipment for the deformation of the tunnel segment of the current shield tunnel segment.
(2) Technical proposal
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
a quick check out test set for tunnel segment deformation, including track marcing measuring module, laser tomography system, vehicle laser radar equipment, alarm output system, adjustable RFID reading system, anti metal label, edge computing system, local display system. The vehicle traveling control system scans the front situation of the vehicle through the vehicle laser radar equipment, the edge computing system drives the vehicle to advance according to the front state, and the edge computing system and the RFID reading system read the tag data information of the anti-metal tag corresponding to the tunnel segment.
The rapid detection equipment for the deformation of the tunnel segment comprises a vehicle body, a laser tomography system is located at the upper side of the vehicle body, a vehicle-mounted radar is located at the front end of the vehicle body, a vehicle travel control system is located at the vehicle body, a local display system is located above the vehicle body, an edge computing system is located above the local display system, a track travel measurement module is located at the vehicle body, an RFID reading system is located at the vehicle body, and an anti-metal tag is located at the inner wall of the tunnel segment.
The rapid detection equipment for deformation of the tunnel duct piece comprises a mounting plate fixedly arranged on the bottom surface of the car body, a rotating shaft is rotatably arranged on one side surface of the mounting plate, a roller and a push rod are fixedly arranged on the rotating shaft, and the roller is located between the mounting plate and the push rod.
The quick detection equipment of tunnel segment deformation is still including fixed setting the mounting panel of automobile body top surface, the mounting panel has cavity and first mouthful, first mouthful towards the top surface of automobile body, the cavity with first mouthful is linked together, be provided with a piston piece that can seal the reciprocating motion in the cavity, the piston piece with fixedly between the inner wall of cavity 201 is provided with a supporting spring, be provided with a straight flute in the automobile body, be provided with a reciprocating motion's push rod in the straight flute, the push rod passes first mouthful and with piston piece fixed connection, the mounting panel still has second mouth and third mouth, the second mouth is located the left side, the third mouth is located the right side, the left side of mounting panel is fixed to be provided with the intake pipe, the second mouth with the intake pipe is linked together, the right side of mounting panel is fixedly provided with the outlet duct, the third mouth with the outlet duct is linked together, the second mouth is fixedly provided with first check valve, the third mouth is fixedly provided with the outlet duct, the second outlet duct is fixedly provided with a filter screen.
The quick detection equipment of tunnel segment deformation still includes fixed first "L" type pole that sets up in push rod one side, the side of intake pipe is fixed to be provided with a connecting rod, the connecting rod rotates and is set up in a pivot, the pivot is fixed to be provided with second "L" type pole, the pivot cover is equipped with a torsional spring, the one end of torsional spring with pivot fixed connection, the other end with connecting rod fixed connection works as first "L" type pole with the push rod is upwards promoted, first "L" type pole can promote second "L" type pole overturns, lets be close to the one end of filter screen with the filter screen separation.
According to the rapid detection method of the rapid detection equipment for the deformation of the tunnel segment, scanning tunnel inner diameter data of the position of the anti-metal tag is performed after the laser tomography system according to the read address of the anti-metal tag and the tunnel shield segment area bound with the read address of the anti-metal tag; and the laser tomography system scans the data of the tunnel segment corresponding to the anti-metal label installed on the current tunnel shield segment, and reads and processes the tunnel segment tomography data acquired by the laser tomography system by the edge computing system.
(3) The beneficial effects are that:
A. the track robot automatically moves above the track by automatic speed adjustment according to set speed based on track erection and carrying related detection and positioning equipment, and an anti-metal RFID tag is fixedly installed at the position, close to the installation table surfaces of the two tunnel segment, of the track center line and used for positioning the number of the shield tunnel segment to be measured. When the RFID reader of the controllable reading range of the track robot automatically scans and reads the RFID data on the mounting track, reading out the RFID tag ID. The track travel distance calculation is started from the tag reading by the encoder for the travel distance of the track robot. The track robot reaches the track center line, and an edge calculation module connected with the encoder starts to drive and send a scanning trigger signal to the laser tomography scanner to start the inner side tomography of the track. And scanning by a laser tomography scanner to measure the segment fault profile of the segment in the visible range. And the laser fault scanner sends the measurement coordinate data of the measurement point position to the edge calculation storage system in real time to perform data preprocessing on the data. The system preprocesses and cleans the preprocessed data, reduces the sample density of the measured tunnel segment, and calculates the real logical center point coordinates of the current segment according to a fitting algorithm for the sample data of the tunnel segment. And eliminating invalid points after measuring noise and foreign matters attached to the pipe wall appear in measurement through the real logic center point coordinates, and submitting coordinate data to an edge calculation module for calculation and storage. And the edge calculation module storage unit is used for storing tunnel segment measurement data. The stored and pre-cleaned coordinate data are sent to an edge calculation and approximation fitting calculation module, and the tunnel segment section detection sampling data obtained by current detection are used as curve points of the inner wall of the tunnel, and a curve approximation fitting function of the current segment profile is generated by the approximation fitting calculation module. And meanwhile, analyzing and obtaining the measured data gap data contained in the curved surface approximation fitting function. Automatically ignoring the area data which cannot be measured in the calculation process of generating the curved surface approximation fitting function in the later period;
because of the jitter of measured data in the test equipment, the problems of inconsistent measurement of the density of the measured point positions, mechanical precision and the central point position of the equipment, the measurement angles and coordinates in different time domains cannot be completely corresponding one by one each time. In the coordinate deformation comparison calculation, sampling points in different time domains cannot be in one-to-one correspondence with each other from coordinates. The comparison mode of the measurement points of the sampling points with the consistent measurement radian is generated by adopting the curved surface approximation fitting function of different time domains of the same tunnel segment, so that error accumulation caused by error between discrete points of the discrete laser point cloud is simplified;
the system uses preset simulation setting parameters (curve interval density, starting cambered surface angle and ending cambered surface angle are generated) as boundary control parameters of the curve approximation fitting function. And (5) generating the fitting calculation simulation point positions of the actually detected tunnel inner wall at a high speed. The fitting calculation simulation point positions can be used as the current latest time domain comparison segment point position data. The system acquires shield tunnel segment coordinate definition of the current segment from the displacement coordinate of the current detection storage vehicle, and reads a shield tunnel segment history contour approximation function stored before the shield tunnel segment from the system. The historic shield tunnel segment contour approximation functions are ordered according to the generation time of the functions. The functions quickly generate historical time domain comparison segment point data according to historical contour fitting coordinates by a fitting simulation calculation module according to preset simulation setting parameters;
and regenerating segment inner diameter contour fitting coordinate points which can be used for comparison through a time line according to the set density and the detection edge limit and the angular density through contour approximation curve functions of different time nodes. And comparing the profile fitting coordinate points of the inner diameter profile of the profile duct piece with maintenance records of the duct piece of the system, and removing abnormal data time intervals in historical fitting points in duct piece trend caused by duct piece maintenance. And generating a three-dimensional coordinate of the section change based on a time axis, wherein the three-dimensional coordinate is measured by taking the measured radian density as a measurement baseline and taking the difference between the distance from a logic center point to an actual contour edge and a preset radius value of the segment as the measurement baseline. Analyzing and calculating the change quantity and the change trend of the current duct piece by taking the change rate of the same duct piece in different time dimensions in the distance as the change trend as a calculation basis;
and comparing the variation quantity and variation trend of the duct pieces with preset alarm reference values as variation quantity, and if the variation quantity and variation trend exceeds the range, sending an alarm event to an alarm module for alarm maintenance scheduling of a user and an operation detection center connected with a network. And submitting and transmitting the profile approximation curve function of the current duct piece to an operation detection center connected with a network, and simultaneously carrying out on-site audible and visual prompt of an alarm on the site of the vehicle-mounted robot. When the network signal is lack in the tunnel, the edge computing system stores and buffers the current alarm data and segment attribute information. And when the network is restored to be connected again, the first time is sent to an upper operation detection center for risk analysis and evaluation, maintenance processing and emergency plan treatment.
Drawings
FIG. 1 is a tunnel cross-sectional view of the present invention;
fig. 2 is a view of a tunnel segment splicing structure; the method comprises the steps of carrying out a first treatment on the surface of the
FIG. 3 is a deformation structure diagram of a tunnel segment;
FIG. 4 is a block diagram of a tunnel segment inspection apparatus;
FIG. 5 is a tunnel segment detection tomographic image of a tunnel segment detection apparatus;
FIG. 6 is a schematic diagram of a tunnel inspection segment coordinate positioning;
FIG. 7 is a flow chart of a tunnel segment deformation detection algorithm;
FIG. 8 is a schematic view of a dust collector;
fig. 9 is an enlarged view at a in fig. 8;
fig. 10 is a right-hand view of the outlet tube.
Detailed Description
The invention is further illustrated by the following examples in conjunction with figures 1-10:
a quick check out test set for tunnel segment deformation, its characterized in that: the system comprises a track travel measuring module 1, a laser tomography system 2, a vehicle laser radar device 3, an alarm output system 4, an adjustable RFID reading system 5, an anti-metal tag 6, an edge computing system 7 and a local display system 8. The vehicle travel control system 9 scans the front situation of the vehicle through the vehicle laser radar device 3, the edge computing system 6 drives the vehicle to advance according to the front state, and the edge computing system 6 and the RFID reading system 5 read the tag data information of the anti-metal tag 6 corresponding to the tunnel segment.
The rapid detection equipment for tunnel segment deformation comprises a car body 50, a laser tomography system 2 is located on the upper side of the car body 50, a vehicle-mounted radar 3 is located at the front end of the car body 50, a vehicle travel control system 9 is located on the car body 50, a local display system 8 is located above the car body 50, an edge computing system 7 is located above the local display system 8, a track travel measurement module 1 is located on the car body 50, an RFID reading system 5 is located on the car body 50, and an anti-metal tag 6 is located on the inner wall of a tunnel segment.
The rapid detection device for deformation of tunnel segment comprises a mounting plate 150 fixedly arranged on the bottom surface of the vehicle body 50, a rotary shaft 151 is rotatably arranged on one side surface of the mounting plate 150, a roller 152 and a push rod 153 are fixedly arranged on the rotary shaft 150, and the roller 152 is located between the mounting plate 150 and the push rod 153.
The rapid detection device for tunnel segment deformation further comprises a mounting plate 200 fixedly arranged on the top surface of the vehicle body 50, the mounting plate 200 is provided with a cavity 201 and a first port 202, the first port 202 faces the top surface of the vehicle body 50, the cavity 201 is communicated with the first port 202, an air inlet pipe 206 is fixedly arranged on the left side of the mounting plate 200, a piston block 203 capable of being in sealed reciprocating motion is fixedly arranged between the piston block 203 and the inner wall of the cavity 201, a straight groove 204 is formed in the vehicle body 50, a push rod 205 capable of being in reciprocating motion is arranged in the straight groove 204, the push rod 205 penetrates through the first port 202 and is fixedly connected with the piston block 203, the mounting plate 200 is further provided with a second port 294 and a third port 205, the second port 294 is positioned on the left side, the third port 205 is positioned on the right side, an air inlet pipe 206 is fixedly arranged on the left side of the mounting plate 200, a supporting spring 888 is fixedly arranged between the piston block 203 and the inner wall of the cavity 201, an air outlet pipe 207 (307 is provided with three air outlet pipes 205 which are aligned with three air outlet pipe systems respectively, and a laser head 206 is fixedly arranged in the air outlet pipe 206 is fixedly arranged in the cavity (3 is fixedly arranged in the air inlet pipe 208), and is fixedly arranged in the air outlet pipe 207) through a one-way valve (4, and is fixedly arranged in the air inlet pipe 209).
The quick detection device for deformation of tunnel segment further comprises a first L-shaped rod 288 fixedly arranged on one side of the push rod 205, a connecting rod 250 is fixedly arranged on the side face of the air inlet pipe 206, a rotating shaft 251 is rotatably arranged on the connecting rod 250, a second L-shaped rod 289 is fixedly arranged on the rotating shaft 251, a torsion spring is sleeved on the rotating shaft 251, one end of the torsion spring is fixedly connected with the rotating shaft 251, the other end of the torsion spring is fixedly connected with the connecting rod 250, when the first L-shaped rod 288 is pushed upwards with the push rod 205, the first L-shaped rod 288 pushes the second L-shaped rod 289 to overturn, and one end close to the filter screen 211 is separated from the filter screen 211.
When the car body 50 runs, the roller 152 contacting with the ground rotates, the roller 152 rotates and drives the push rod 153 to rotate, the push rod 153 drives the push rod 205 to move upwards, the push rod 205 drives the piston block 203 to move upwards, the space in the cavity 201 is reduced, the air pressure is increased, the increased air pressure enables the second one-way valve to be opened, the air is discharged from the air outlet pipe 207, then three laser heads of the laser tomography system 2 are blown to remove dust, meanwhile, the push rod 205 drives the first L-shaped rod 288 to move upwards, the first L-shaped rod 288 drives the second L-shaped rod 289 to rotate anticlockwise, and one end of the second L-shaped rod 289 contacting with the filter screen 211 is separated from the filter screen 211; when the push rod 153 moves to be separated from the push rod 205, the push rod 205 moves downwards under the action of the spring, so that the space in the cavity 201 is reduced, the air pressure is increased, then the first one-way valve 208 is opened to allow air to enter the cavity 201, meanwhile, the second L-shaped rod 289 loses the abutting of the first L-shaped rod 288, the second L-shaped rod 289 resets under the action of the spring, the second L-shaped rod 289 can strike the filter screen 211, and the filter screen 211 can shake to remove dust, so that excessive dust adhered on the filter screen is avoided, and air inlet is influenced. The filter screen can filter dust of the gas, so that clean gas can be used for removing dust on the laser head.
According to the rapid detection method of the rapid detection equipment for the deformation of the tunnel segment, the reading address of the anti-metal label 6 and the tunnel shield segment area bound with the anti-metal label are used for scanning the inner diameter data of the tunnel at the position of the anti-metal label 6 after the laser tomography system 2; the laser tomography system 2 scans the data of the tunnel segment corresponding to the anti-metal tag 6 installed on the current tunnel shield segment, and the edge computing system 7 reads and processes the tunnel segment tomography data acquired by the laser tomography system 2.
The track robot automatically moves above the track by automatic speed adjustment according to set speed based on track erection and carrying related detection and positioning equipment, and an anti-metal RFID tag is fixedly installed at the position, close to the installation table surfaces of the two tunnel segment, of the track center line and used for positioning the number of the shield tunnel segment to be measured. When the RFID reader of the controllable reading range of the track robot automatically scans and reads the RFID data on the mounting track, reading out the RFID tag ID. The track travel distance calculation is started from the tag reading by the encoder for the travel distance of the track robot. The track robot reaches the track center line, and an edge calculation module connected with the encoder starts to drive and send a scanning trigger signal to the laser tomography scanner to start the inner side tomography of the track. And scanning by a laser tomography scanner to measure the segment fault profile of the segment in the visible range. And the laser fault scanner sends the measurement coordinate data of the measurement point position to the edge calculation storage system in real time to perform data preprocessing on the data. The system preprocesses and cleans the preprocessed data, reduces the sample density of the measured tunnel segment, and calculates the real logical center point coordinates of the current segment according to a fitting algorithm for the sample data of the tunnel segment. And eliminating invalid points after measuring noise and foreign matters attached to the pipe wall appear in measurement through the real logic center point coordinates, and submitting coordinate data to an edge calculation module for calculation and storage. And the edge calculation module storage unit is used for storing tunnel segment measurement data. The stored and pre-cleaned coordinate data are sent to an edge calculation and approximation fitting calculation module, and the tunnel segment section detection sampling data obtained by current detection are used as curve points of the inner wall of the tunnel, and a curve approximation fitting function of the current segment profile is generated by the approximation fitting calculation module. And meanwhile, analyzing and obtaining the measured data gap data contained in the curved surface approximation fitting function. And automatically ignoring the area data which cannot be measured in the calculation process of generating the curved surface approximation fitting function in the later period.
Because of the jitter of measured data in the test equipment, the problems of inconsistent measurement of the density of the measured point positions, mechanical precision and the central point position of the equipment, the measurement angles and coordinates in different time domains cannot be completely corresponding one by one each time. In the coordinate deformation comparison calculation, sampling points in different time domains cannot be in one-to-one correspondence with each other from coordinates. The comparison mode of the measurement points of the sampling points with the consistent measurement radian is generated by adopting the curved surface approximation fitting function of different time domains of the same tunnel segment, so that error accumulation caused by error between discrete points of the discrete laser point cloud is simplified.
The system uses preset simulation setting parameters (curve interval density, starting cambered surface angle and ending cambered surface angle are generated) as boundary control parameters of the curve approximation fitting function. And (5) generating the fitting calculation simulation point positions of the actually detected tunnel inner wall at a high speed. The fitting calculation simulation point positions can be used as the current latest time domain comparison segment point position data. The system acquires shield tunnel segment coordinate definition of the current segment from the displacement coordinate of the current detection storage vehicle, and reads a shield tunnel segment history contour approximation function stored before the shield tunnel segment from the system. The historic shield tunnel segment contour approximation functions are ordered according to the generation time of the functions. The functions are used for quickly generating historical time domain comparison segment point data of the historical contour fitting coordinates according to preset simulation setting parameters through a fitting simulation calculation module.
And regenerating segment inner diameter contour fitting coordinate points which can be used for comparison through a time line according to the set density and the detection edge limit and the angular density through contour approximation curve functions of different time nodes. And comparing the profile fitting coordinate points of the inner diameter profile of the profile duct piece with maintenance records of the duct piece of the system, and removing abnormal data time intervals in historical fitting points in duct piece trend caused by duct piece maintenance. And generating a three-dimensional coordinate of the section change based on a time axis, wherein the three-dimensional coordinate is measured by taking the measured radian density as a measurement baseline and taking the difference between the distance from a logic center point to an actual contour edge and a preset radius value of the segment as the measurement baseline. And analyzing and calculating the change quantity and the change trend of the current duct piece by taking the change rate of the same duct piece in different time dimensions in the distance as the change trend as a calculation basis.
And comparing the variation quantity and variation trend of the duct pieces with preset alarm reference values as variation quantity, and if the variation quantity and variation trend exceeds the range, sending an alarm event to an alarm module for alarm maintenance scheduling of a user and an operation detection center connected with a network. And submitting and transmitting the profile approximation curve function of the current duct piece to an operation detection center connected with a network, and simultaneously carrying out on-site audible and visual prompt of an alarm on the site of the vehicle-mounted robot. When the network signal is lack in the tunnel, the edge computing system stores and buffers the current alarm data and segment attribute information. And when the network is restored to be connected again, the first time is sent to an upper operation detection center for risk analysis and evaluation, maintenance processing and emergency plan treatment.
The embodiments of the present invention are disclosed as preferred embodiments, but not limited thereto, and those skilled in the art will readily appreciate from the foregoing description that various extensions and modifications can be made without departing from the spirit of the present invention.
Claims (6)
1. A quick check out test set for tunnel segment deformation, its characterized in that: the system comprises a track travel measurement module (1), a laser tomography system (2), a vehicle laser radar device (3), an alarm output system (4), an adjustable RFID reading system (5), an anti-metal tag (6), an edge computing system (7) and a local display system (8).
The vehicle traveling control system (9) scans the front situation of the vehicle through the vehicle laser radar equipment (3), the edge computing system (6) drives the vehicle to advance according to the front state, and the edge computing system (6) and the RFID reading system (5) read the tag data information of the anti-metal tag (6) corresponding to the tunnel segment.
2. The rapid detection apparatus for deformation of tunnel segment according to claim 1, wherein: the rapid detection equipment for tunnel segment deformation comprises a car body 50, a laser tomography system 2 is located on the upper side of the car body 50, a vehicle-mounted radar (3) is located at the front end of the car body 50, a vehicle travel control system 9 is located on the car body 50, a local display system (8) is located above the car body 50, an edge computing system 7 is located above the local display system 8, a track travel measurement module 1 is located on the car body 50, an RFID reading system (5) is located on the car body 50, and an anti-metal tag 6 is located on the inner wall of a tunnel segment.
3. The rapid detection apparatus for deformation of tunnel segment according to claim 1, wherein: the rapid detection device for deformation of tunnel segment comprises a mounting plate 150 fixedly arranged on the bottom surface of the vehicle body 50, a rotary shaft 151 is rotatably arranged on one side surface of the mounting plate 150, a roller 152 and a push rod 153 are fixedly arranged on the rotary shaft 150, and the roller 152 is located between the mounting plate 150 and the push rod 153.
4. A rapid detection apparatus for deformation of tunnel segment according to claim 3, wherein: the rapid detection device for deformation of the tunnel segment further comprises a mounting plate 200 fixedly arranged on the top surface of the vehicle body 50, the mounting plate 200 is provided with a cavity 201 and a first port 202, the first port 202 faces the top surface of the vehicle body 50, the cavity 201 is communicated with the first port 202, an air inlet pipe 206 is fixedly arranged on the left side of the mounting plate 200, a piston block 203 capable of being in sealed reciprocating motion is fixedly arranged between the piston block 203 and the inner wall of the cavity 201, a straight groove 204 is formed in the vehicle body 50, a push rod 205 capable of being in reciprocating motion is arranged in the straight groove 204, the push rod 205 penetrates through the first port 202 and is fixedly connected with the piston block 203, the mounting plate 200 is further provided with a second port 294 and a third port 205, the second port 294 is positioned on the left side, the third port 205 is positioned on the right side, an air inlet pipe 206 is fixedly arranged on the left side of the mounting plate 200, the second port 294 is communicated with the air inlet pipe 206, an air outlet pipe 207 is fixedly arranged on the right side of the mounting plate 200, the air outlet pipe 205 is fixedly arranged with the third port 205 is fixedly connected with the air inlet pipe 207, the second air outlet pipe 207 is fixedly arranged with the air outlet pipe 208, and the air inlet pipe is fixedly arranged with a one-way valve 209 is fixedly arranged in the second port 294.
5. The rapid detection apparatus for deformation of tunnel segment of claim 4, wherein: the quick detection device for deformation of tunnel segment further comprises a first L-shaped rod 288 fixedly arranged on one side of the push rod 205, a connecting rod 250 is fixedly arranged on the side face of the air inlet pipe 206, a rotating shaft 251 is rotatably arranged on the connecting rod 250, a second L-shaped rod 289 is fixedly arranged on the rotating shaft 251, a torsion spring is sleeved on the rotating shaft 251, one end of the torsion spring is fixedly connected with the rotating shaft 251, the other end of the torsion spring is fixedly connected with the connecting rod 250, when the first L-shaped rod 288 is pushed upwards with the push rod 205, the first L-shaped rod 288 pushes the second L-shaped rod 289 to overturn, and one end close to the filter screen 211 is separated from the filter screen 211.
6. A rapid detection method using a rapid detection apparatus for deformation of tunnel segment according to any one of claims 1 to 5, characterized in that: scanning tunnel inner diameter data according to the position of the anti-metal label (6) after the laser tomography system (2) performs the tunnel shield segment area bound with the read address of the anti-metal label (6); the laser tomography system (2) scans the data of the tunnel segment corresponding to the anti-metal tag (6) installed on the current tunnel shield segment, and the edge computing system (7) reads and processes the tunnel segment tomography data acquired by the laser tomography system (2).
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117249762A (en) * | 2023-11-13 | 2023-12-19 | 山西一建集团有限公司 | Window opening size deviation construction detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117249762A (en) * | 2023-11-13 | 2023-12-19 | 山西一建集团有限公司 | Window opening size deviation construction detection device |
| CN117249762B (en) * | 2023-11-13 | 2024-03-12 | 山西一建集团有限公司 | Window opening size deviation construction detection device |
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