WO2017107334A1 - 一种地铁隧道结构断面变形快速检测装置 - Google Patents
一种地铁隧道结构断面变形快速检测装置 Download PDFInfo
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- WO2017107334A1 WO2017107334A1 PCT/CN2016/077854 CN2016077854W WO2017107334A1 WO 2017107334 A1 WO2017107334 A1 WO 2017107334A1 CN 2016077854 W CN2016077854 W CN 2016077854W WO 2017107334 A1 WO2017107334 A1 WO 2017107334A1
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- deformation
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- subway tunnel
- subway
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C7/00—Tracing profiles
- G01C7/06—Tracing profiles of cavities, e.g. tunnels
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Definitions
- the invention relates to the technical field of civil engineering, in particular to a device for quickly detecting deformation of a section of a subway tunnel structure, in particular to a rapid detection device for deformation of a section of a subway tunnel structure using a lattice laser as an auxiliary structure light source.
- the deformation of the section is an unavoidable disease phenomenon, and the long-term development of the disease has an irreversible negative impact on the safety of the tunnel.
- the subway project in a soft land environment Therefore, the maintenance of the tunnel structure in the operation of the subway is regarded as a necessary means to ensure the long-term operational safety of the tunnel.
- the detection of tunnel diseases is the basis for tunnel maintenance decisions and technical means.
- the detection of the deformation of the traditional tunnel structure is usually done by the total station method.
- the total station method In actual operation, there is a manual installation of the total station, after leveling and then measuring, it takes about 25 minutes to complete the deformation detection of a tunnel structure. Therefore, in a subway tunnel, it is usually performed once every 5 sections. At a time interval of only 2 hours of subway operation per day, the effectiveness of the work is extremely limited. Under the demand of small-scale mileage detection, this method can still meet the demand, and it seems to be unable to cope with a large number of engineering inspections. Even with a large number of people and equipment involved, it takes more than half a year for the entire metro network to complete one inspection cycle. Such an approach simply cannot meet the needs of future metro network operation security guarantees.
- SPACETEC of Germany has developed the SPACETEC TS3 tunnel rapid scanning inspection system, according to the company According to the data, the system can be installed on any inspection vehicle to detect tunnel lining water seepage diseases; researchers at Berg Bygg Konsult (BBK) AB in Sweden use three-dimensional ground laser scanning system to detect tunnel leakage water diseases; France HGH Infrared Systems has developed the ATLAS 70 multi-sensor tunnel non-destructive testing system, which can also detect tunnel seepage problems.
- a comprehensive rapid detection device for the operation of subway tunnel structures (201410495172.0, ZL201420554338.7) developed by Tongji University can detect leaky water diseases and deformation of sections.
- the section deformation detection uses a circular single-line laser as a structural light source and camera.
- the object of the present invention is to provide a rapid detection device for cross-section deformation of a subway tunnel structure in order to overcome the defects of the prior art described above, and effectively overcome the problem that the data of the cross-section deformation detection result are mutually referenced and the detection data is unstable due to motion.
- a rapid detecting device for deformation of a section of a subway tunnel structure comprising:
- the track walking mechanism is set on the subway track.
- the collection center is disposed on the track walking mechanism
- the track running mechanism is a T-shaped walking platform, comprising a horizontal axis, a vertical axis and a vertical column, wherein the horizontal axis and the vertical axis are connected to form a T-shaped platform, and the bottom of the T-shaped platform is provided with a tread wheel, and one end of the column Vertically connected to the horizontal axis, and the other end is used to set the operation platform of the collection center.
- the collection center includes a lattice laser structure light source, an industrial fixed focus camera, and a computer, and the computer is connected to an industrial fixed focus camera;
- the industrial fixed focus camera collects the imaging data of the subway track under the dot matrix laser structure light source and transmits it to the computer, and the computer receives and processes the image data to obtain the deformation of the subway tunnel structure section.
- the horizontal axis and the vertical axis are connected by a chute to form a T-shaped platform, and the horizontal axis and the upper surface of the vertical axis are on the same plane.
- the upper end surfaces of the three end portions of the T-shaped platform are respectively provided with associated coordinate marks for establishing an associated coordinate plane.
- the lattice laser structure light source is a dot matrix laser.
- the coordinate conversion is realized by the following methods:
- the local three-dimensional coordinate system of the section deformation of the subway tunnel structure is constructed.
- the associated coordinate system is constructed according to the track walking mechanism and the associated coordinate marks thereon, and the local coordinate system is used in the local three-dimensional coordinate system.
- the point is transformed into a global three-dimensional coordinate system, and the deformation detection of the cross section of the subway tunnel structure is realized in a global three-dimensional coordinate system.
- the collection center further includes an annular support frame, a control card, a power supply, a data transfer machine and an encoder.
- the annular support is mounted on the operation platform, and the lattice laser structure light source, the industrial fixed focus camera and the control card are fixed on the ring.
- the power source and the encoder are disposed in a horizontal axis, and the power source is respectively connected to an encoder, an industrial fixed focus camera, a control card and a data transfer machine, and the control card is respectively connected to the encoder and the industrial fixed focus camera.
- the industrial fixed focus camera is connected to a computer through a data transfer machine;
- the control card activates the industrial fixed focus camera according to the electronic pulse of the encoder, and the industrial fixed focus camera captures the imaging data of the subway track under the lattice laser structure light source, and the data transfer machine transmits the collected imaging data to the computer.
- the industrial fixed focus camera is provided with a plurality of, arranged in order along the annular edge of the annular support frame, and the fixed position of the industrial fixed focus camera corresponds to the circumferential angle of the image information in the tunnel captured by the industrial fixed focus camera.
- a groove for placing a power source and an encoder is disposed on the horizontal axis, and a power line of the power source and a signal line of the encoder are concealed in the groove and in the column.
- the column is connected to the horizontal axis by a slot, and the annular support frame is connected to the operating platform by a slot.
- An implementation handle is provided on the horizontal axis.
- the present invention has the following beneficial effects:
- the present invention completes the detection index of the section deformation by the motion activation detecting device of the vehicle platform Shooting, calculation and analysis of section deformation with proprietary processing software developed for this device.
- Each cycle of shooting, calculation and analysis can obtain single-section deformation information represented by three-dimensional coordinates, which is represented by a local three-dimensional coordinate system composed of an industrial fixed-focus camera and a lattice laser structure light source.
- the single-section deformation information is converted to the global coordinate system (usually the geodetic coordinate system) by the associated coordinate plane formed by the coordinate association identifier on the T-shaped track walking platform.
- the conversion relationship between the local three-dimensional coordinate system and the coordinate association identifier formed by the industrial fixed focus camera and the lattice laser structure light source to form the associated coordinate plane and the global coordinate system (usually the geodetic coordinate system) can be obtained by calibration.
- the device can greatly accelerate the detection speed and data processing speed of the structural section deformation of the subway tunnel, and can not only solve the problem of low manual spread efficiency and long information feedback period, but also overcome the problem that the relative deformation of the section is incomparable.
- the detection of structural damage of subway tunnels provides new detection technology, which more effectively guarantees the decision-making speed of subway operation and maintenance and the safety of subway structure.
- the present invention constructs a local three-dimensional coordinate system for deformation of a section of a subway tunnel structure by using an industrial fixed focus camera and a lattice laser structured light source, and establishes an associated coordinate plane by using a T-shaped track walking platform and associated coordinate marks disposed on the surface thereof.
- the present invention adopts a T-shaped track walking platform, and has three tread wheels, which can also be regarded as three point contact tracks, so that when the walking platform is running, three points will not be off track; "T" type It can be ensured that the three points of the contact track must be on the same plane, because geometrically, three points determine a plane, which is the best way to achieve coordinate transformation of the device.
- the existing "work" type rail walking platform also has four contact points. When the walking platform is running, there may be one wheel that does not touch the track, and geometrically, the four points are not necessarily in the same plane. Inside, it is not easy to convert the coordinate system.
- the present invention uses a dot matrix laser as a structural light source to better acquire imaging data in a subway tunnel to improve the accuracy of deformation detection.
- Figure 1 is a schematic view of the structure of the present invention
- FIG. 2 is a schematic view showing the arrangement of an industrial fixed focus camera of the present invention
- FIG. 3 is a schematic view showing the arrangement of a dot matrix laser according to the present invention.
- the label 1, track walking mechanism, 2, collection center, 11, horizontal axis, 12, vertical axis, 13, column, 14, operating platform, 15, associated coordinate mark, 16, tread wheel, 17, push handle, 18, groove, 21, dot matrix laser structure light source, 22, industrial fixed focus camera, 23, ring support frame, 24, control card, 25, power supply, 26, data transfer machine.
- a rapid detection device for cross-section deformation of a subway tunnel structure includes a track walking mechanism 1 and a collection center 2 .
- the track running mechanism 1 is disposed on a subway track.
- the track running mechanism 1 is a T-shaped walking platform, and includes a horizontal axis 11, a vertical axis 12, and a column 13.
- the horizontal axis 11 and the vertical axis 12 are connected by a chute to form a T-shaped platform.
- the horizontal axis 11 is located on the same plane as the upper surface of the longitudinal axis 12.
- the bottom of the T-shaped platform is provided with three tread wheels 16, and one end of the column 13 is vertically connected to the horizontal axis 11 through the slot, and the other end is used for setting and collecting.
- the operating platform 14 of the center 2 the upper end surfaces of the three ends of the T-shaped platform are respectively provided with associated coordinate marks 15 for establishing an associated coordinate plane.
- a push handle 17 is provided on the horizontal axis 11.
- the collection center 2 includes a lattice laser structure light source 21, an industrial fixed focus camera 22, a computer, a ring support frame 23, a control card 24, a power source 25, a data handoff machine 26, and an encoder.
- the ring support frame 23 is disposed on the operation platform 14,
- the dot matrix laser structure light source 21, the industrial fixed focus camera 22 and the control card 24 are fixed on the annular support frame 23, the power source 25 and the encoder are disposed in the horizontal axis 11, and the power source 25 is respectively connected to the encoder, the industrial fixed focus camera 22, and the control
- the card 24 and the data transfer machine 26 are powered, the control card 24 is connected to an encoder and an industrial fixed focus camera 22, respectively, and the industrial fixed focus camera 22 is connected to the computer via a data transfer machine 26.
- the annular support frame 23 functions to fix various components in the collection center; the industrial fixed focus camera 22 mainly captures image information that the dot matrix laser illuminates on the tunnel structure; the function of the encoder is to generate electronic pulses by rotation and transmit the electronic pulses.
- the control card 24 internally writes a control program, collects the electronic pulse sent by the encoder and judges, if the determination criterion set by the control program is reached, then The control card will send a trigger pulse signal to the industrial fixed focus camera to provide a trigger signal for the industrial fixed focus camera 22; the data switch 26 collects and transmits image information acquired from the industrial fixed focus camera 22; the power supply 25 provides the control card 24 and encoder
- the working power source stores the tunnel image information collected by the industrial fixed focus camera 22 transmitted by the data exchange 26.
- the industrial fixed focus camera 22 must be fixed in the hoop distribution of the annular support frame 23, and the fixed position of the industrial fixed focus camera 22 is to be able to accurately locate the hoop angle of the image information in the tunnel captured by the industrial fixed focus camera 22.
- the lattice laser structure light source 21 is a dot matrix laser and is provided with one.
- the horizontal axis 11 is provided with a recess 18 for placing the power source 25 and the encoder.
- the power line of the power source 25 and the signal line of the encoder are arranged in the recess 18 and in the column 13, and the encoder is placed at the end of the horizontal axis 11.
- the tread wheel 16 on the horizontal axis 11 is connected without a differential, and the tread wheel 16 of the horizontal axis 11 rotates.
- the column 13 is connected to the horizontal shaft 11 in a slot manner, and the annular support frame 23 is connected to the platform of the operating platform 14 in a slot manner.
- a plug is disposed in the slot of the horizontal shaft 11 , a plug is disposed at both ends of the column 13 , and a plug is disposed at the bottom of the ring support frame 23 .
- the column 13 is internally provided with a wire connecting plugs at both ends, and the horizontal shaft 11, the column 13 and the ring support frame 23 plugs each include a power cord jack for connecting the power source 25 and a signal line jack for connecting the encoder 5.
- the horizontal axis 11 and the column 13 are connected through the slots, the power source 25 and the encoder are connected.
- the operating platform 14 communicates with the power source 25 and the encoder when the annular support frame 23 is connected through the slot.
- the dimensions of the components in the above device are as follows: the length of the horizontal axis is 1460 mm, the shape of the cross section is 146 x 150 mm, and the wheel with the tread surface is mounted at one end; the length of the longitudinal axis is 600 mm, and the shape of the cross section is 146 x 150 mm high, two The wheel is equipped with a shaft tread wheel, the wheel center distance is 450mm; the column height column height is 815mm, the section shape is 140 ⁇ 140mm square, the two ends of the column are respectively provided with the plug chute length of 50mm, and the opposite side chutes are single and double Distribution; annular support frame outer diameter 400mm.
- the working principle of the device is that when the track running mechanism 1 advances along the subway track, the control card 24 activates the industrial fixed focus camera 22 according to the electronic pulse of the encoder, and the industrial fixed focus camera 22 collects the subway track under the lattice laser structure light source 21. Imaging data, the data transfer machine 26 transmits the acquired imaging data to a computer, and the computer acquires and processes the imaging data to obtain a deformation of the cross section of the subway tunnel structure.
- the coordinate transformation is realized by the following methods: constructing the deformation of the subway tunnel structure according to the lattice laser structure light source 21 and the industrial fixed focus camera 22.
- the local three-dimensional coordinate system is constructed according to the track walking mechanism 1 and the associated coordinate mark 15 thereon, and the points in the local three-dimensional coordinate system are converted to the global three-dimensional coordinate system by the associated coordinate system, in the global three-dimensional coordinate system. Realize the deformation detection of the section of the subway tunnel structure.
- the logical relationship of the specific coordinate transformation is shown in Figure 4:
- O is the point of the global coordinate system (usually the geodetic coordinate system) in the subway tunnel
- G1 is the coordinate-related identifier fixed to the tread wheel end of the horizontal axis 11
- G2 and G3 are the coordinate-related identifications fixed to the two ends of the tread wheel of the vertical axis 12
- O1 It is a virtual origin of a local three-dimensional coordinate system composed of an industrial fixed focus camera 22 and a lattice laser structured light source.
- O is a known coordinate point.
- the length relationship and spatial relationship between G1G2, G2G3, and G1G32 are known as the device is completed, and the three lines formed by G1, G2, and G3 are on the same plane.
- the spatial coordinates of G1, G2 and G3 can be determined by measuring the length and angle between OG1, OG2 and OG3.
- the conversion relationship between the global coordinate points O to the spatial coordinates of G1, G2, and G3 is only related to the length and the angle between OG1, OG2, and OG3, and a fixed conversion relationship can be formed.
- O1 is the virtual origin of the local three-dimensional coordinate system.
- a fixed coordinate transformation relationship can be obtained. Therefore, before each use of the device to measure the deformation of the tunnel structure section, select the point O of the known global coordinate system (usually the geodetic coordinate system) in the subway tunnel, and measure the length and the clamp between OG1, OG2, and OG3.
- the angular relationship knows the spatial coordinates of G1, G2, and G3, so that O1 and the global space coordinates of the tunnel structure with O1 as the local coordinate origin can be known.
- the present invention is currently directed to solving the problem of rapid detection of deformation of a section of a subway tunnel structure.
- the inventor can not only realize the function of rapid detection, but also solve the problem of different section data association and continuous coordinate transformation to the global coordinate system (usually the geodetic coordinate system).
- the device of the present invention and the basic ideas behind it can also be used in other fields of testing work and device development.
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Abstract
Description
Claims (10)
- 一种地铁隧道结构断面变形快速检测装置,包括:轨道行走机构(1),设置于地铁轨道上,采集中心(2),设置于轨道行走机构(1)上;其特征在于,所述轨道行走机构(1)为T字型行走平台,包括横轴(11)、纵轴(12)和立柱(13),所述横轴(11)与纵轴(12)连接形成T字型平台,该T字型平台底部设有踏面车轮(16),所述立柱(13)一端与横轴(11)垂直连接,另一端上用于设置采集中心(2)的操作平台(14),所述采集中心(2)包括点阵激光结构光源(21)、工业定焦相机(22)和电脑,所述电脑与工业定焦相机(22)连接;所述轨道行走机构(1)沿地铁轨道前进时,工业定焦相机(22)采集地铁轨道在点阵激光结构光源(21)下的成像数据传输给电脑,电脑接收并处理成像数据获得地铁隧道结构断面的变形。
- 根据权利要求1所述的地铁隧道结构断面变形快速检测装置,其特征在于,所述横轴(11)与纵轴(12)通过滑槽相连接形成T字型平台,且横轴(11)与纵轴(12)的上表面位于同一平面上。
- 根据权利要求1所述的地铁隧道结构断面变形快速检测装置,其特征在于,所述T字型平台的三个端部上表面分别设有用于建立关联坐标平面的关联坐标标记(15)。
- 根据权利要求1所述的地铁隧道结构断面变形快速检测装置,其特征在于,所述点阵激光结构光源(21)为点阵激光器。
- 根据权利要求3所述的地铁隧道结构断面变形快速检测装置,其特征在于,处理成像数据获得地铁隧道结构断面的变形时,通过以下方式实现坐标转换:根据点阵激光结构光源(21)和工业定焦相机(22)构建地铁隧道结构断面变形的局部三维坐标系,同时根据轨道行走机构(1)及其上的关联坐标标记(15)构建关联坐标系,通过关联坐标系将局部三维坐标系中的点转换至全局 三维坐标系,在全局三维坐标系下实现地铁隧道结构断面的变形检测。
- 根据权利要求1所述的地铁隧道结构断面变形快速检测装置,其特征在于,所述采集中心(2)还包括环形支撑架(23)、控制卡(24)、电源(25)、数据交接机(26)和编码器,所述环形支撑架(23)设于操作平台(14)上,所述点阵激光结构光源(21)、工业定焦相机(22)和控制卡(24)固定于环形支撑架(23)上,所述电源(25)和编码器设于横轴(11)中,所述电源(25)分别连接编码器、工业定焦相机(22)、控制卡(24)和数据交接机(26),所述控制卡(24)分别连接编码器和工业定焦相机(22),所述工业定焦相机(22)通过数据交接机(26)与电脑连接;控制卡(24)根据编码器的电子脉冲激活工业定焦相机(22),工业定焦相机(22)采集地铁轨道在点阵激光结构光源(21)下的成像数据,数据交接机(26)将所采集的成像数据传输给电脑。
- 根据权利要求6所述的地铁隧道结构断面变形快速检测装置,其特征在于,所述工业定焦相机(22)设有多个,沿环形支撑架(23)的环形边缘依次排列设置,所述工业定焦相机(22)的固定位置与工业定焦相机(22)拍摄的隧道内图像信息的环向角度相对应。
- 根据权利要求6所述的地铁隧道结构断面变形快速检测装置,其特征在于,所述横轴(11)上设有用于放置电源(25)和编码器的凹槽(18),所述电源(25)的电源线及编码器的信号线隐蔽布置于凹槽(18)内和立柱(13)内。
- 根据权利要求6所述的地铁隧道结构断面变形快速检测装置,其特征在于,所述立柱(13)采用插槽方式与横轴(11)连接,所述环形支撑架(23)采用插槽方式与操作平台(14)连接。
- 根据权利要求1所述的地铁隧道结构断面变形快速检测装置,其特征在于,所述横轴(11)上设有推行手柄(17)。
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