WO2020001251A1 - 一种面板堆石坝内部形变监测方法及监测系统 - Google Patents

一种面板堆石坝内部形变监测方法及监测系统 Download PDF

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Publication number
WO2020001251A1
WO2020001251A1 PCT/CN2019/090238 CN2019090238W WO2020001251A1 WO 2020001251 A1 WO2020001251 A1 WO 2020001251A1 CN 2019090238 W CN2019090238 W CN 2019090238W WO 2020001251 A1 WO2020001251 A1 WO 2020001251A1
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flexible pressure
monitoring
resistant pipeline
rockfill dam
monitoring device
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PCT/CN2019/090238
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English (en)
French (fr)
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李清泉
陈智鹏
朱家松
程翔
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深圳大学
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Publication of WO2020001251A1 publication Critical patent/WO2020001251A1/zh

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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
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/30—Measuring arrangements characterised by the use of mechanical techniques for measuring the deformation in a solid, e.g. mechanical strain gauge

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  • the invention relates to the technical field of dam safety monitoring and measurement, in particular to a deformation monitoring method and a monitoring system for a face rockfill dam.
  • Face rockfill dam is an important type of dam.
  • the deflection of the panel and the vertical settlement and horizontal displacement inside the dam are important safety indicators that reflect the deformation of the panel rockfill dam. When these safety indicators exceed a certain threshold, the safety of the dam will be affected. Therefore, these safety indicators need to be accurately monitored.
  • the monitoring of the above-mentioned safety indicators requires the setting of different measuring instruments respectively, and the setting of the measuring instruments adopts the point embedding method. Once the measuring instruments are installed and buried, they cannot be repaired and are easily damaged. The instrument has a lower survival rate, which affects the integrity and measurement accuracy of the monitoring data.
  • the technical problem to be solved by the present invention is to provide a method and a system for monitoring the internal deformation of a panel rockfill dam in response to the above-mentioned shortcomings of the prior art.
  • the measuring instruments in the technology cannot be repaired, affecting monitoring and other problems.
  • a method for monitoring internal deformation of a face rockfill dam includes:
  • Step A A flexible pressure-resistant pipeline is embedded in the dam body of the face-filled rockfill dam in advance, and a monitoring device is placed in the flexible pressure-resistant pipeline; the flexible pressure-resistant pipeline deforms with the deformation of the face-filled rockfill dam ;
  • Step B Control the monitoring device to perform a back-and-forth motion along the central axis of the flexible pressure-resistant pipeline, perform three-dimensional curve measurement on the flexible pressure-resistant pipeline, and send the measurement data to a preset processing terminal;
  • Step C After receiving the measurement data, the processing terminal performs three-dimensional curve calculation, performs registration and comparison on the three-dimensional curves in different periods, and obtains the corresponding relationship of the same compression point of the flexible pressure-resistant pipeline at different periods.
  • the horizontal displacement, vertical settlement and panel disturbance of the face rockfill dam are calculated through the corresponding relationship.
  • step A specifically includes:
  • Step A1 When the face rockfill dam is constructed in advance, a flexible pressure-resistant pipeline is buried in the dam body to be monitored;
  • Step A2 A magnetic mark is uniformly arranged at the joint along the line of the flexible pressure-resistant pipeline, and the magnetic mark and the flexible pipeline are fixedly connected by an iron hoop;
  • step A3 a monitoring device for measuring a three-dimensional curve in the flexible pressure-resistant pipeline is placed at a starting point of the flexible pressure-resistant pipeline.
  • step A1 specifically includes:
  • the outer surface of the flexible pressure-resistant pipeline is covered with fine stone or fine sand material;
  • the flexible pressure-resistant pipeline is a PE water supply pipe with a pressure-resistant capacity greater than 1.0Mpa.
  • the step B specifically includes:
  • Step B1 A forced centering device is set in advance at the starting point of the flexible pressure-resistant pipeline
  • Step B2 Align a specific measurement point on the monitoring device with the center of the nozzle, and accurately measure the center position of the nozzle through a prism installed on the forced centering device;
  • Step B3 Control the monitoring device to perform a back-and-forth movement along the central axis of the flexible pressure-resistant pipeline, and perform a three-dimensional curve measurement on the flexible pressure-resistant pipeline during the movement;
  • Step B4 Send the measurement data to a processing terminal connected to the monitoring device.
  • the monitoring unit in the monitoring device includes an inertial guide, an odometer, and a magnetometer.
  • step C specifically includes:
  • Step C1 After receiving the measurement data, the processing terminal uses the Kalman filter algorithm to fuse the inertial navigation data and odometer data measured by the monitoring device, and uses the starting point and the end point of the flexible pressure-resistant pipeline to correct the measurement error. ;
  • Step C2 Perform RTS smoothing on the filtering result to obtain a three-dimensional curve of the flexible pressure-resistant pipeline; the three-dimensional curve is a deformation axis of the buried flexible pressure-resistant pipeline;
  • Step C3 The three-dimensional curves of the same flexible pressure-resistant pipeline in different periods are roughly registered according to the mileage distance, and then accurately registered according to the magnetic strength of the magnetic mark, and the three-dimensional curves registered in different periods are compared to obtain the flexibility. Correspondence between the same measuring points of pressure-resistant pipelines in different periods;
  • Step C4 Calculate the horizontal displacement, vertical settlement, and panel disturbance of the face rockfill dam according to the corresponding relationship.
  • step C3 further includes:
  • the three-dimensional curves of multiple measurements of the same flexible compression pipeline in the same period are registered, and the weighted average is calculated according to the accuracy of the three-dimensional curve calculation to improve the accuracy of conveying the three-dimensional curve.
  • a deformation monitoring system for a panel rockfill dam wherein the system includes:
  • a monitoring device that is placed inside the flexible pressure-resistant pipeline and controls it to perform three-dimensional curve measurement in accordance with the center axis of the flexible pressure-resistant pipeline;
  • the flexible pressure-resistant pipeline deforms with the deformation of the face rockfill dam.
  • the monitoring device includes a monitoring unit composed of an inertial guide, an odometer, and a magnetometer.
  • the present invention measures the three-dimensional deformation of a flexible pressure-resistant pipeline by burying a flexible pressure-resistant pipeline in a face-filled rockfill dam, and placing a monitoring device in the pipeline.
  • the conversion can directly obtain the face-filled rockfill dam
  • the present invention only needs to put a monitoring device during measurement, which avoids the difficulty of maintaining the buried measuring instrument in the prior art; it saves costs and invents
  • the horizontal displacement, vertical settlement and panel disturbance of the face rockfill dam can be monitored at the same time, which improves the monitoring efficiency.
  • FIG. 1 is a flowchart of a preferred embodiment of a method for monitoring internal deformation of a panel rockfill dam according to the present invention.
  • FIG. 2 is a schematic diagram of the position of the flexible pressure-resistant pipeline in the face rockfill dam according to the present invention.
  • FIG. 3 is a schematic diagram of a position of a magnetic mark on a flexible pressure-resistant pipeline in the present invention.
  • FIG. 4 is a schematic diagram of the application of the forced centering device in the flexible pressure-resistant pipeline according to the present invention.
  • FIG. 5 is a schematic diagram of the measurement performed by the monitoring device in the flexible pressure-resistant pipeline according to the present invention.
  • FIG. 6 is a schematic diagram of a running route of the monitoring device in the present invention during measurement.
  • the present invention provides a method for monitoring the internal deformation of a panel rockfill dam, as shown in FIG. 1.
  • the method for monitoring the internal deformation of the face rockfill dam specifically includes:
  • Step S100 A flexible pressure-resistant pipeline is embedded in the dam body of the face-filled rockfill dam in advance, and a monitoring device is put into the flexible pressure-resistant pipeline; the flexible pressure-resistant pipeline deforms with the deformation of the face-filled rockfill dam. .
  • the present invention embeds a flexible pressure-resistant pipeline in the dam body of the panel rockfill dam in advance.
  • the pressure-resistant pipeline can be deformed with the deformation of the face rockfill dam. Therefore, the deformation of the face-filled rockfill dam can be obtained only by measuring the deformation of the flexible pressure-resistant pipeline.
  • the present invention buryes the flexible pressure-resistant pipeline in the dam body to be monitored, and when the flexible pressure-resistant pipeline is buried, fine stone or fine sand is used to The outer surface of the flexible pressure-resistant pipeline is covered to prevent the flexible pressure-resistant pipeline from being damaged by pointed objects.
  • the flexible pressure-resistant pipeline layout can be set as shown in Figure 2.
  • a hot-melt method is used to weld the flexible pressure-resistant pipes of different sections, and magnetic signs made of small cylindrical magnets are uniformly arranged at the joints along the line of the flexible pressure-resistant pipes (as shown in FIG. 3).
  • the magnetic mark and the flexible pipeline are fixedly connected by iron hoops, and move with the deformation and movement of the flexible pressure-resistant pipeline.
  • the flexible pressure-resistant pipeline can be monitored simply by putting a monitoring device in the flexible pressure-resistant pipeline.
  • the flexible pressure-resistant pipeline in the embodiment uses a PE (polyethylene) water supply pipe with a pressure resistance greater than 1.0Mpa.
  • PE polyethylene
  • the cross-section of the flexible pressure-resistant pipeline is less deformed under deformation, so it will not affect the monitoring device Movement inside the pipe. It is worth noting that the present invention does not limit the material and specific shape of the flexible pressure-resistant pipeline, and other materials (meeting the conditions of flexible pressure-resistant) and other forms of flexible pressure-resistant pipeline shall also belong to the protection scope of the present invention.
  • step S200 the monitoring device is controlled to perform a back-and-forth movement along the central axis of the flexible pressure-resistant pipeline, perform three-dimensional curve measurement on the flexible pressure-resistant pipeline, and send the measurement data to a preset processing terminal.
  • the present invention needs to measure the deformation of the flexible pressure-resistant pipeline through a monitoring device to determine the deformation of the face rockfill dam. Therefore, in order to improve the monitoring accuracy, this embodiment needs to control the monitoring device along the flexible resistance Press the central axis of the pipeline to move.
  • a compulsory centering device is provided at the starting point of the flexible pressure-resistant pipeline for monitoring on the monitoring device. The center of the unit is aligned with the central axis of the flexible pressure-resistant pipeline.
  • the forced centering device is shown in FIG. 4.
  • the forced centering device is provided with a collapsible triangle bracket mechanism, and the center of the triangle bracket mechanism is the center of the flexible pressure-resistant pipeline.
  • the triangular support wheel mechanism is connected to the triangular support on the monitoring device, so that the center of the monitoring device is aligned with the center of the triangular support (that is, the central axis of the flexible pressure-resistant pipeline).
  • the monitoring unit of the monitoring device in this embodiment includes an inertial guide, an odometer, and a magnetometer.
  • the magnetometer senses a magnetic mark set on the pipeline.
  • a magnetic induction intensity curve is obtained, as shown in B in FIG. 5, and the position where the position monitored by the monitoring device is located in the flexible pressure-resistant pipeline is determined according to the magnetic induction intensity.
  • sensors may be mounted in the monitoring unit, and the present invention does not limit the specific form of the sensors.
  • a monitoring device when it is necessary to monitor and measure the deformation of the flexible pressure-resistant pipeline, a monitoring device is put in the initial position of the flexible pressure-resistant pipeline. First control the inspection device to stand still for 1-5 minutes, and use a forced centering device to accurately measure the starting point of the monitoring device to obtain the initial azimuth and horizontal attitude angle. These two angles are used as the initial values for dead reckoning. At the same time, the specific measurement point on the monitoring device is aligned with the center of the nozzle, and the prism center installed on the centering device is used to accurately measure the center of the nozzle to ensure measurement accuracy.
  • the high-precision inertial navigation, odometer and magnetometer monitoring unit performs three-dimensional curve measurement on flexible pressure-resistant pipelines. And stand at the end of the pipeline for 10-30 seconds for zero speed correction.
  • the monitoring device is controlled to perform a back-and-forth movement in the pipeline to perform back-and-forth measurement.
  • the specific route trajectory is shown in FIG.
  • the route trajectory is marked with Start point, end point, magnetic mark point, magnetic mark point constraint and running route.
  • the monitoring device uses the forced centering device to align the center of the monitoring device with the central axis of the flexible pressure-resistant pipeline, and stand still for 1-5 minutes to eliminate the error of the monitoring device during the movement and improve the monitoring. Precision.
  • the monitoring device sends the measurement data to a processing terminal connected thereto, and processes the measurement data through the processing terminal.
  • step S300 after receiving the measurement data, the processing terminal performs a three-dimensional curve calculation, performs registration and comparison of the three-dimensional curves in different periods, and obtains the same measurement points of the flexible pressure-resistant pipeline at the same measurement point in different periods. Corresponding relationship, and the horizontal displacement, vertical settlement, and panel disturbance of the face rockfill dam are calculated through the corresponding relationship.
  • the processing terminal after receiving the measurement data sent by the monitoring device or directly downloading the measurement data from the monitoring device through WIFI, the processing terminal performs three-dimensional curve calculation on the measurement data.
  • the Kalman filter algorithm is used to fuse the inertial navigation data and odometer data measured by the monitoring device, and the measurement error is corrected by using the starting point and the end point of the flexible pressure-resistant pipeline. Finally, the filtering result is subjected to RTS. Smooth to obtain the three-dimensional curve trajectory of the flexible pressure-resistant pipeline, including the three-dimensional attitude and three-dimensional position.
  • the three-dimensional curves of the same flexible pressure-resistant pipeline in different periods are roughly registered according to the mileage distance, that is, the magnetic mark points with similar distances are the same measurement point, and then according to the magnetic strength of the magnetic mark (the magnetic mark can determine that the measuring point Position in the pressurized pipeline), and compare the three-dimensional curves registered in different periods, so as to obtain the corresponding relationship of the same compression point in the flexible pressure-resistant pipeline at different periods. Finally, the corresponding relationship is converted into three safety indicators of the horizontal displacement, vertical settlement, and panel disturbance of the face rockfill dam.
  • the horizontal displacement and vertical settlement of the face rockfill dam can be directly compared with the three-dimensional curves registered in different periods, and the three-dimensional coordinates corresponding to the same magnetic marker positions on the two curves can be compared to obtain the monitoring pipeline within the monitoring time period.
  • Vertical settlement and horizontal displacement According to the definition of deflection, the value of deflection can be calculated using the measured point distance and the change in pitch angle.
  • the three-dimensional curves measured multiple times in the same period and the same flexible pressure-resistant pipeline are registered according to the magnetic mark, and then the accuracy is calculated according to the three-dimensional curve calculation. Weighted average to get more accurate 3D curve trajectory.
  • the three-dimensional curve is the central axis of the deformation of the buried flexible pressure-resistant pipeline.
  • the present invention also provides a deformation monitoring system for a panel rockfill dam.
  • the system includes: a flexible pressure-resistant pipeline embedded in the dam body to be monitored in advance;
  • the monitoring device performs three-dimensional curve measurement according to the central axis of the flexible pressure-resistant pipeline; it is used to solve and analyze the measurement data of the monitoring device to obtain the corresponding relationship of the flexible pressure-resistant pipeline. According to the relationship calculation, the horizontal displacement, the vertical settlement of the face rockfill dam, and the processing terminal of the face disturbance are obtained; the flexible pressure-resistant pipeline is deformed with the deformation of the face rockfill dam.
  • the monitoring device is connected to the processing terminal, and the connection method may be a WIFI connection, a Bluetooth connection, or the like.
  • the monitoring device includes a monitoring unit composed of an inertial guide, an odometer, and a magnetometer, and the flexible pressure-resistant pipeline is measured with high precision by the monitoring unit.
  • the present invention provides a method and system for monitoring internal deformation of a panel rockfill dam.
  • the monitoring method includes: burying a flexible pressure-resistant pipeline in the dam body of the panel rockfill dam to be monitored in advance, and the flexibility A monitoring device is placed in the pressure-resistant pipeline; the flexible pressure-resistant pipeline is deformed as the panel rockfill dam is deformed; and the monitoring device is controlled to perform a back-and-forth movement along the central axis of the flexible pressure-resistant pipeline to control the flexible resistance Press the pipeline to perform 3D curve measurement and send the measurement data to a preset processing terminal; after receiving the measurement data, the processing terminal performs 3D curve calculation, and registers and compares the 3D curves in different periods to obtain Correspondence between the same pressure measuring points of the flexible pressure-resistant pipeline at different times, and the horizontal displacement, vertical settlement, and panel disturbance of the face rockfill dam are calculated through the correspondence.
  • the present invention Compared with the traditional method of burying a measuring instrument, the present invention only needs to put a monitoring device during measurement, which avoids the difficulty of maintaining the buried measuring instrument in the prior art; it saves costs, and the invention can monitor simultaneously
  • the horizontal displacement, vertical settlement and panel disturbance of the face rockfill dam improve the monitoring efficiency and monitoring accuracy.

Abstract

本发明公开了一种面板堆石坝内部形变监测方法及监测系统，监测方法包括：预先在待监测的坝体内部埋设柔性抗压管道，并投放监测装置；控制监测装置沿着柔性抗压管道的中轴线进行往返运动，进行三维曲线测量，并将测量数据发送至处理终端；处理终端进行三维曲线解算，对不同时期的三维曲线进行配准与对比，得到柔性抗压管道在不同时期同一测量点的对应关系，并计算得到水平位移、垂直沉降以及面板扰度。相对于传统的点式埋设测量仪器的方法，本发明只需在测量时投放监测装置，规避了现有技术中对已经埋入的测量仪器维护的难题；节省了成本，并且发明可以同时监测出面板堆石坝的水平位移、垂直沉降以及面板扰度，提高了监测效率与监测精度。

Description

一种面板堆石坝内部形变监测方法及监测系统 技术领域
本发明涉及大坝安全监测及测量技术领域，具体涉及一种面板堆石坝内部形变监测方法及监测系统。
背景技术
面板堆石坝是一种重要水坝类型。面板挠度和坝体内部垂直沉降、水平位移是反应面板堆石坝变形状况的重要安全指标。当这些安全指标超过一定阈值，将会影响大坝的安全性，因此需要对这些安全指标进行精密监测。
但是现有技术中对于上述安全指标的监测需要分别设置不同的测量仪器，并且对于测量仪器的设置均采用点式埋设的方式，而一旦将测量仪器安装埋设后便不能进行维修，且本身易损坏，仪器存活率较低，影响监测数据的完整性和测量精度。
因此，现有技术还有待于改进和发展。
发明内容
本发明要解决的技术问题在于，针对现有技术的上述缺陷，提供一种面板堆石坝内部形变监测方法及监测系统，旨在解决现有技术中的无法对安全指标统一测量，并且现有技术中的测量仪器无法进行维修，影响监测等问题。
本发明解决技术问题所采用的技术方案如下：
一种面板堆石坝内部形变监测方法，其中，所述监测方法包括：
步骤A、预先在面板堆石坝的待监测的坝体内部埋设柔性抗压管道，并所述柔性抗压管道内投放监测装置；所述柔性抗压管道随着面板堆石坝的变形而变形；
步骤B、控制所述监测装置沿着所述柔性抗压管道的中轴线进行往返运动，对所述柔性抗压管道进行三维曲线测量，并将测量数据发送至预设的处理终端；
步骤C、所述处理终端在接收所述测量数据后，进行三维曲线解算，对不同时期的三维曲线进行配准与对比，得到所述柔性抗压管道在不同时期同一测量点的对应关系，并通过所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以 及面板扰度。
所述的面板堆石坝内部形变监测方法，其中，所述步骤A具体包括:
步骤A1、预先在所述面板堆石坝建造时，在待监测的坝体内埋设柔性抗压管道；
步骤A2、在所述柔性抗压管道的沿线接缝处均匀布设磁标志，所述磁标志与所述柔性管道之间通过铁箍固连；
步骤A3、在所述柔性抗压管道的起始点投放用于对所述柔性抗压管道内的三维曲线进行测量的监测装置。
所述的面板堆石坝内部形变监测方法，其中，所述步骤A1具体包括:
在埋设所述柔性抗压管道时，利用细石或者细沙料对所述柔性抗压管道外表面进行包覆；
采用热熔的方式对不同段的柔性抗压管道进行熔接。
所述的面板堆石坝内部形变监测方法，其中，所述柔性抗压管道采用抗压能力大于1.0Mpa的PE供水管。
所述的面板堆石坝内部形变监测方法，其中，所述步骤B具体包括：
步骤B1、预先在所述柔性抗压管道的起始点处设置强制对中装置；
步骤B2、将监测装置上特定测量点与管口中心对齐，并通过强制对中装置上安装的棱镜准确测量管口中心位置；
步骤B3、控制所述监测装置沿着所述柔性抗压管道的中轴线进行往返运动，并在运动的过程中对所述柔性抗压管道进行三维曲线测量；
步骤B4、将测量数据发送至与所述监测装置连接的处理终端。
所述的面板堆石坝内部形变监测方法，其中，所述监测装置中的监测单元包括惯导、里程计以及磁力计。
所述的面板堆石坝内部形变监测方法，其中，所述步骤C具体包括：
步骤C1、所述处理终端接收到测量数据后利用卡尔曼滤波算法对监测装置所测量到的惯导数据、里程计数据进行融合，并利用柔性抗压管道的起始点与终点对测量误差进行修正；
步骤C2、对滤波结果进行RTS平滑，得到所述柔性抗压管道的三维曲线；该三维曲线为埋设的柔性抗压管道的形变的中轴线；
步骤C3、对不同时期的同一柔性抗压管道的三维曲线按照里程距离进行粗配准，再按照磁标志的磁强度进行精确配准，并对比不同时期配准的三维曲线，得出所述柔性抗压管道在不同时期同一测量点的对应关系；
步骤C4、根据所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以及面板扰度。
所述的面板堆石坝内部形变监测方法，其中，所述步骤C3还包括：
对同一时期、同一柔性抗压管道多次测量的三维曲线进行配准，并根据三维曲线计算得到的精度进行加权平均，提高输送三维曲线的精度。
一种面板堆石坝内部形变监测系统，其中，所述系统包括：
预先埋设在待监测坝体的柔性抗压管道；
投放在所述柔性抗压管道内部并控制其按照所述柔性抗压管道的中轴线往返运动进行三维曲线测量的监测装置；
用于对监测装置的测量数据进行解算与分析，得出柔性抗压管道的对应关系，并通过所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以及面板扰度的处理终端；
所述柔性抗压管道随着面板堆石坝的变形而变形。
所述的面板堆石坝内部形变监测系统，其中，所述监测装置中包括由惯导、里程计以及磁力计组成的监测单元。
本发明的有益效果：本发明通过在面板堆石坝中埋设柔性抗压管道，并在该管道中投放监测装置来对柔性抗压管道的三维形变进行测量，通过换算可以直接得到面板堆石坝的形变指标，相对于传统的点式埋设测量仪器的方法，本发明只需在测量时投放监测装置，规避了现有技术中对已经埋入的测量仪器维护的难题；节省了成本，并且发明可以同时监测出面板堆石坝的水平位移、垂直沉降以及面板扰度，提高了监测效率。
附图说明
图1是本发明的面板堆石坝内部形变监测方法的较佳实施例的流程图。
图2是本发明中的柔性抗压管道在所述面板堆石坝内部的位置示意图。
图3是本发明中磁标志在柔性抗压管道上的位置示意图。
图4是本发明中的强制对中装置在所述柔性抗压管道中的应用示意图。
图5是本发明中的监测装置在柔性抗压管道中进行测量的示意图。
图6是本发明中的监测装置在测量时的运行路线示意图。
具体实施方式
为使本发明的目的、技术方案及优点更加清楚、明确，以下参照附图并举实施例对本发明进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
由于现有技术中对于面板挠度和坝体内部垂直沉降、水平位移的测量需要设置不同的测量仪器，并且设置方式均采用点式埋入的方式。测量仪器一旦安装埋设后便不能进行维修，本身易损坏，仪器存活率较低，影响监测数据的完整性和测量精度。为了解决上述问题，本发明提供了一种面板堆石坝内部形变监测方法，具体如图1中所示。所述面板堆石坝内部形变监测方法具体包括：
步骤S100、预先在面板堆石坝的待监测的坝体内部埋设柔性抗压管道，并所述柔性抗压管道内投放监测装置；所述柔性抗压管道随着面板堆石坝的变形而变形。
为了解决现有技术中的测量仪器在安装埋入后无法维修，且也无法对测量仪器进行更新的问题，本发明在面板堆石坝的待监测坝体内预先埋入柔性抗压管道，该柔性抗压管道可以随着面板堆石坝的变形而变形，因此只需对该柔性抗压管道的形变进行测量即可获得面板堆石坝的形变。
具体地，本发明在所述面板堆石坝建造时，在待监测的坝体内埋设所述柔性抗压管道，并且在埋设所述柔性抗压管道时，利用细石或者细沙料对所述柔性抗压管道外表面进行包覆，以避免所述柔性抗压管道受尖物损坏。柔性抗压管道布局方式可以如图2中的布局进行设置。进一步地，本实施例中采用热熔的方式对不同段的柔性抗压管道进行熔接，并且在柔性抗压管道的沿线接缝处均匀布设有小型圆柱状磁铁构成的磁标志(如图3中所示)，所述磁标志与所述柔性管道之间通过铁箍固连，并且随着柔性抗压管道的变形移动而移动。在需要对面板堆石坝进行监测时，只需在所述柔性抗压管道内投放监测装置即可对所述柔性抗压管道进行监测。较佳地，实施例中的柔性抗压管道采用抗压能力大于1.0Mpa的PE (聚乙烯)供水管，该柔性抗压管道的横截面在变形情况下形变较小，因此不会影响监测装置在管道内的运动。值得说明的是，本发明并不对柔性抗压管道的材料以及具体形状进行限定，其他材料(满足柔性抗压的条件)以及其他形式的柔性抗压管道也应属于本发明的保护范围。
进一步地，步骤S200、控制所述监测装置沿着所述柔性抗压管道的中轴线进行往返运动，对所述柔性抗压管道进行三维曲线测量，并将测量数据发送至预设的处理终端。
具体实施时，本发明是需要通过监测装置测量出所述柔性抗压管道的形变从而确定出面板堆石坝的形变，因此为了提高监测精度，本实施例需要控制所述监测装置沿着柔性抗压管道的中轴线进行运动。较佳的，为了保证所述监测装置沿着柔性抗压管道的中轴线进行往返运动，本实施例中在柔性抗压管道的起始点处设置强制对中装置，用于使监测装置上的监测单元的中心与柔性抗压管道的中轴线对齐。所述强制对中装置如图4中所示，所述强制对中装置设置有可收缩的三角支架机构，该三角支架的机构的中心即为柔性抗压管道的中心。
将该三角支架轮机构与监测装置上的三角支架连接，使得监测装置的中心与三角支架的中心(即柔性抗压管道中轴线)对齐。
进一步较佳地，本实施例中的监测装置的监测单元包括惯导、里程计以及磁力计，当监测装置在柔性抗压管道中运动时，磁力计会对管道上设置的磁标志进行感应，得到磁感应强度曲线，如图5中的B中所示，根据该磁感应强度确定监测装置所监测到位置在柔性抗压管道中所处的位置。当然，所述监测单元中还可以搭载其他形式的传感器，本发明并不对传感器具体形式进行限定。
具体地，当需要对柔性抗压管道的形变进行监测与测量的时候，在柔性抗压管道的初始位置投放监测装置。首先控制检装置静止1-5分钟，使用强制对中装置对监测装置的起始点进行精确测量，得到初始方位角和水平姿态角，这两个角度作为航位推算的初始值。同时将监测装置上特定测量点与管口中心对齐，并通过强制对中装置上安装的棱镜准确测量管口中心位置，保证测量精度。然后通过动力机器人推动或者绞盘绳索牵引(如图5中的A中所示，图5中使用的是使用绞盘绳索牵引)来控制监测装置沿着柔性抗压管道中轴线自由移动，并同时利用搭载高精度的惯导、里程计以及磁力计的监测单元对柔性抗压管道进行三维曲 线测量。并在管道终点处静止10-30秒进行零速修正。优选地，为了更精确地对柔性抗压管道进行测量，本实施例中控制所述监测装置在管道中进行往返运动，来回进行测量，具体的路线轨迹如图6中所示，路线轨迹标示有起始点、终点、磁标志点、磁标志点约束以及运行路线。当监测装置回到起始点后，再次利用强制对中装置使监测装置的中心与柔性抗压管道的中轴线对齐，并静止1-5分钟，以消除监测装置在运动过程中的误差，提高监测精度。最后，监测装置将测量数据发送至与之连接的处理终端中，通过处理终端来对测量数据进行处理。
进一步地，步骤S300、所述处理终端在接收所述测量数据后，进行三维曲线解算，对不同时期的三维曲线进行配准与对比，得到所述柔性抗压管道在不同时期同一测量点的对应关系，并通过所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以及面板扰度。
具体实施时，所述处理终端接收监测装置发送的测量数据或者直接通过WIFI从所述监测装置中下载测量数据后，对测量数据进行三维曲线解算。
具体地，首先通过卡尔曼滤波算法，对监测装置所测量到的惯导数据、里程计数据进行融合，并利用柔性抗压管道的起始点和终点对测量误差进行修正，最后对滤波结果进行RTS平滑，从而得到柔性抗压管道的三维曲线轨迹，包括三维姿态和三维位置。然后对不同时期的同一柔性抗压管道的三维曲线按照里程距离进行粗配准，即距离相近的磁标志点为同一测量点，再按照磁标志的磁强度(磁标志可以确定测量点在柔性抗压管道中的位置)进行精确配准，并对比不同时期配准的三维曲线，从而得出所述柔性抗压管道在不同时期同一测量点的对应关系。最后将该对应关系换算成面板堆石坝的水平位移、垂直沉降以及面板扰度这三个安全指标。
所述面板堆石坝的水平位移以及垂直沉降可以直接通过对比不同时期配准的三维曲线，将两条曲线上相同磁标志位置对应的三维坐标进行作差，可以得到监测管道在监测时间段内的垂直沉降和水平位移。根据挠度定义，可以利用测量点距离和俯仰角变化值计算挠度形变值。
较佳地，为了得到更高精度的三维曲线轨迹，本实施例中对于同一时期、同一柔性抗压管道多次测量的三维曲线据根据磁标志进行配准后，根据三维曲线计算得到的精度进行加权平均，得到更为精确的三维曲线轨迹。该三维曲线为埋设 的柔性抗压管道的形变的中轴线。
由此可见，本发明中通过埋设可以随着面板堆石坝一起变形的柔性抗压管道，并在管道中投放监测装置监测管道的形变，即可推算出面板堆石坝的形变，无需像传统的方法那样埋设传感器，有效节省了成本，并且有利于对监测装置进行更新与维护，有效提高了监测精度。
基于上述实施例，本发明还提供了一种面板堆石坝内部形变监测系统，所述系统包括：预先埋设在待监测坝体的柔性抗压管道；投放在所述柔性抗压管道内部并控制其按照所述柔性抗压管道的中轴线往返运动进行三维曲线测量的监测装置；用于对监测装置的测量数据进行解算与分析，得出柔性抗压管道的对应关系，并通过所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以及面板扰度的处理终端；所述柔性抗压管道随着面板堆石坝的变形而变形。所述监测装置与处理终端连接，连接方式可以采用WIFI连接、蓝牙连接等。
优选地，所述监测装置中包括由惯导、里程计以及磁力计组成的监测单元，通过该监测单元对柔性抗压管道进行高精度测量。
综上所述，本发明提供的一种面板堆石坝内部形变监测方法及监测系统，监测方法包括：预先在面板堆石坝的待监测的坝体内部埋设柔性抗压管道，并所述柔性抗压管道内投放监测装置；所述柔性抗压管道随着面板堆石坝的变形而变形；控制所述监测装置沿着所述柔性抗压管道的中轴线进行往返运动，对所述柔性抗压管道进行三维曲线测量，并将测量数据发送至预设的处理终端；所述处理终端在接收所述测量数据后，进行三维曲线解算，对不同时期的三维曲线进行配准与对比，得到所述柔性抗压管道在不同时期同一测量点的对应关系，并通过所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以及面板扰度。相对于传统的点式埋设测量仪器的方法，本发明只需在测量时投放监测装置，规避了现有技术中对已经埋入的测量仪器维护的难题；节省了成本，并且发明可以同时监测出面板堆石坝的水平位移、垂直沉降以及面板扰度，提高了监测效率与监测精度。
应当理解的是，本发明的应用不限于上述的举例，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，所有这些改进和变换都应属于本发明所附权利要求的保护范围。

Claims (10)

  1. 一种面板堆石坝内部形变监测方法，其特征在于，所述监测方法包括：
    步骤A、预先在面板堆石坝的待监测的坝体内部埋设柔性抗压管道，并所述柔性抗压管道内投放监测装置；所述柔性抗压管道随着面板堆石坝的变形而变形；
    步骤B、控制所述监测装置沿着所述柔性抗压管道的中轴线进行往返运动，对所述柔性抗压管道进行三维曲线测量，并将测量数据发送至预设的处理终端；
    步骤C、所述处理终端在接收所述测量数据后，进行三维曲线解算，对不同时期的三维曲线进行配准与对比，得到所述柔性抗压管道在不同时期同一测量点的对应关系，并通过所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以及面板扰度。
  2. 根据权利要求1所述的面板堆石坝内部形变监测方法，其特征在于，所述步骤A具体包括:
    步骤A1、预先在所述面板堆石坝建造时，在待监测的坝体内埋设柔性抗压管道；
    步骤A2、在所述柔性抗压管道的沿线接缝处均匀布设磁标志，所述磁标志与所述柔性管道之间通过铁箍固连；
    步骤A3、在所述柔性抗压管道的起始点投放用于对所述柔性抗压管道内的三维曲线进行测量的监测装置。
  3. 根据权利要求2所述的面板堆石坝内部形变监测方法，其特征在于，所述步骤A1具体包括:
    在埋设所述柔性抗压管道时，利用细石或者细沙料对所述柔性抗压管道外表面进行包覆；
    采用热熔的方式对不同段的柔性抗压管道进行熔接。
  4. 根据权利要求3所述的面板堆石坝内部形变监测方法，其特征在于，所述柔性抗压管道采用抗压能力大于1.0Mpa的PE供水管。
  5. 根据权利要求1所述的面板堆石坝内部形变监测方法，其特征在于，所述步骤B具体包括：
    步骤B1、预先在所述柔性抗压管道的起始点处设置强制对中装置；
    步骤B2、将监测装置上特定测量点与管口中心对齐，并通过强制对中装置上安装的棱镜准确测量管口中心位置；
    步骤B3、控制所述监测装置沿着所述柔性抗压管道的中轴线进行往返运动，并在运动的过程中对所述柔性抗压管道进行三维曲线测量；
    步骤B4、将测量数据发送至与所述监测装置连接的处理终端。
  6. 根据权利要求5所述的面板堆石坝内部形变监测方法，其特征在于，所述监测装置中的监测单元包括惯导、里程计以及磁力计。
  7. 根据权利要求1所述的面板堆石坝内部形变监测方法，其特征在于，所述步骤C具体包括：
    步骤C1、所述处理终端接收到测量数据后利用卡尔曼滤波算法对监测装置所测量到的惯导数据、里程计数据进行融合，并利用柔性抗压管道的起始点与终点对测量误差进行修正；
    步骤C2、对滤波结果进行RTS平滑，得到所述柔性抗压管道的三维曲线；该三维曲线为埋设的柔性抗压管道的形变的中轴线；
    步骤C3、对不同时期的同一柔性抗压管道的三维曲线按照里程距离进行粗配准，再按照磁标志的磁强度进行精确配准，并对比不同时期配准的三维曲线，得出所述柔性抗压管道在不同时期同一测量点的对应关系；
    步骤C4、根据所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以及面板扰度。
  8. 根据权利要求7所述的面板堆石坝内部形变监测方法，其特征在于，所述步骤C3还包括：
    对同一时期、同一柔性抗压管道多次测量的三维曲线进行配准，并根据三维曲线计算得到的精度进行加权平均，提高输送三维曲线的精度。
  9. 一种面板堆石坝内部形变监测系统，其特征在于，所述系统包括：
    预先埋设在待监测坝体的柔性抗压管道；
    投放在所述柔性抗压管道内部并控制其按照所述柔性抗压管道的中轴线往返运动进行三维曲线测量的监测装置；
    用于对监测装置的测量数据进行解算与分析，得出柔性抗压管道的对应关系，并通过所述对应关系计算得到面板堆石坝的水平位移、垂直沉降以及面板扰度的处理终端；
    所述柔性抗压管道随着面板堆石坝的变形而变形。
  10. 根据权利要求9所述的面板堆石坝内部形变监测系统，其特征在于，所述监测装置中包括由惯导、里程计以及磁力计组成的监测单元。
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