WO2020228380A1 - 一种车载式隧道塌方监测预警系统及方法 - Google Patents

一种车载式隧道塌方监测预警系统及方法 Download PDF

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Publication number
WO2020228380A1
WO2020228380A1 PCT/CN2020/073573 CN2020073573W WO2020228380A1 WO 2020228380 A1 WO2020228380 A1 WO 2020228380A1 CN 2020073573 W CN2020073573 W CN 2020073573W WO 2020228380 A1 WO2020228380 A1 WO 2020228380A1
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Prior art keywords
tunnel
face
vehicle
angle
axis
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English (en)
French (fr)
Inventor
林春金
许振浩
王文扬
刘清瑶
林鹏
谢辉辉
余腾飞
王孝特
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Shandong University
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Shandong University
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Priority to AU2020273629A priority Critical patent/AU2020273629B2/en
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Anticipated expiration legal-status Critical
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices
    • 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

Definitions

  • the present disclosure relates to a vehicle-mounted tunnel collapse monitoring and early warning system and method.
  • Landslides are one of the most common geological disasters. They have caused delays in construction schedules, damaged equipment, and brought economic losses to the country; and even caused casualties and project scrapping.
  • the disadvantage of the method of prevention of collapse by monitoring the relative displacement around the tunnel is: monitoring the displacement through the deformation of the tunnel circumference can monitor the precursor information of the collapse caused by the settlement of the vault and the surrounding convergence, but many collapses start to show the precursor information from the excavation surface Therefore, this plan is more used to monitor the support effect after the support.
  • the most dangerous area after excavation does not involve monitoring and early warning.
  • the early warning mechanism of this method is the headroom convergence change, but Tunnel excavation always produces a relatively rapid deformation stage. Therefore, the technical solution that simply takes the clearance convergence rate as the alarm threshold has the defect of delaying the construction period.
  • This method does not involve monitoring information of the tunnel face, and the tunnel face is self-stable Weak capacity is an important reason for the collapse of tunnel engineering.
  • the method of monitoring the deformation of the tunnel face along the axial direction of the tunnel is used to predict the collapse.
  • a reflector is placed along the tunnel face.
  • the reflector is perpendicular to the laser beam of the distance measuring device and is arranged at each position of the tunnel face.
  • the difference between the two measurements is the displacement of the tunnel face along the axial direction of the tunnel.
  • the laser rangefinder will be disassembled, resulting in Unable to monitor; requires manual adjustment, disassembly, and installation of the distance measuring device, which will inevitably disturb the distance measuring device and cause large errors; a large number of rangefinders need to be arranged along the tunnel wall, if they are arranged perpendicular to the reflectors on the face of the tunnel , It occupies a large amount of clear space behind the tunnel, making it impossible to construct in the front and the construction trolley cannot enter.
  • the present disclosure proposes a vehicle-mounted tunnel collapse monitoring and early warning system and method.
  • the present disclosure can be applied to the excavation of any tunnel project to realize the protrusion degree of the tunnel face and the stability of the tunnel rock mass. Fully automatic real-time monitoring, data analysis and forecast and early warning.
  • the present disclosure adopts the following technical solutions:
  • a vehicle-mounted tunnel collapse monitoring and early warning system includes a mobile vehicle equipped with a palm face monitoring module, a data storage module and a processor, wherein:
  • the mobile vehicle includes a chassis and a moving mechanism located at the lower end of the chassis.
  • the chassis is provided with a distance measuring mechanism at the front end of the body body for measuring the distance between the set position and the palm surface.
  • the moving mechanism is provided with an angle measuring controller , Controlling the rotation of the moving mechanism and the angle directly in front of the main body of the vehicle body respectively through the angle, and the moving mechanism is also provided with a traveling distance measuring mechanism to measure the moving distance of the moving mechanism;
  • the palm face monitoring module includes a vertical laser rangefinder and an angle sensor.
  • the vertical laser rangefinder is horizontally arranged on the top of the vehicle body through a rotation axis, and the vertical laser rangefinder can rotate around the rotation axis.
  • the angle sensor is set to measure the angle between the laser emitted vertically to the laser rangefinder and the horizontal plane;
  • the data storage module is connected to the palm face monitoring module and stores the real-time distance value measured by the vertical laser rangefinder, the corresponding launch angle and launch time;
  • the processor is configured to receive the data measured by the distance measuring mechanism and the angle measuring and control device, and calculate the path of the vehicle body to the axis position of the palm face; receive the stored information in the data storage module, and calculate the palm at each time point
  • the protrusion degree of the face axis predict the protrusion speed of the face axis and the maximum protrusion degree of the face axis. If the predicted value is greater than the set threshold, an alarm will be processed.
  • This disclosure no longer uses advanced forecasting of bad geology and tunnel clearance convergence monitoring and measurement as means to predict and early warning of landslides. Instead, it uses a vehicle-mounted early warning system and uses the travel trajectory to combine with collected data to highlight the face of the tunnel. Fully automatic real-time forecast and early warning of conditions such as tunnel rock mass stability, etc.
  • an automatic leveling mechanism is provided between the body body and the chassis to achieve the overall level of the body body;
  • the moving mechanism is a plurality of wheels, and the wheels and the chassis Connected, a support column is provided between a position on the chassis corresponding to the wheel and the body of the vehicle body,
  • the automatic leveling mechanism includes a level bubble, a disc-shaped position sensor and a leveling column, the disc-shaped position sensor is placed At the center of the body surface, the level bubble is set in the disc of the disc-shaped position sensor, the leveling column is placed on the support column, and the level bubble can be positioned on the disc-shaped position sensor by adjusting each leveling column Heart-shaped.
  • the distance measuring mechanism is a horizontal laser rangefinder
  • the angle measuring controller is respectively placed on the upper part of the wheel and the horizontal laser rangefinder, and the left and right rotation of the wheel is controlled by the angle.
  • the horizontal laser rangefinder emits laser light
  • the angle between the horizontal laser rangefinder and the front of the vehicle body is measured; the distance detector is placed on the outside of one of the wheels to control the travel distance of the vehicle body.
  • the mobile vehicle is also provided with a GPS positioning system to provide location information of the mobile vehicle.
  • the processor includes a vehicle body adjustment calculation unit, and the vehicle body adjustment calculation unit receives the horizontal direction laser rangefinder and the angle measurement and control on its side through a data transmission beam.
  • the data measured by the device calculates the path of the car body to the axis position of the palm face, and transmits it to the angle measuring controller and the distance measuring controller to further control the movement of the moving mechanism, and use the triangle theorem to calculate the angle required for the wheel to rotate in the horizontal direction. The distance and the rolling angle of the wheel as it moves forward.
  • the GPS positioning system is used to ensure that the mobile car body runs along the central axis of the tunnel. If the tunnel is under construction for secondary lining or partially blocked by the side wall due to construction, it is used separately GPS positioning to adjust the car body;
  • the angle measuring and controlling device, the distance measuring and controlling device and the GPS positioning system are used to coordinate the running state of the vehicle body.
  • the processor includes a palm face protrusion degree calculation unit, which is connected to the data storage module through a data transmission beam, and calculates the palm face axis protrusion degree according to the recalled stored data,
  • the axis protrusion of the tunnel face is the difference between the real-time distance value measured by the vertical laser rangefinder at time i and the real-time distance value measured at the initial time, divided by the interval time, and the vertical laser rangefinder at time i Multiply the cosine value of the launch angle.
  • the processor includes a palm surface protrusion degree prediction unit, which is connected to the palm surface protrusion degree calculation unit, and uses Gaussian Process regression prediction algorithm or BP neural network algorithm, according to the calculated value of the protrusion degree, predict the axis protrusion speed of the tunnel face and the maximum protrusion degree of the tunnel face.
  • a palm surface protrusion degree prediction unit which is connected to the palm surface protrusion degree calculation unit, and uses Gaussian Process regression prediction algorithm or BP neural network algorithm, according to the calculated value of the protrusion degree, predict the axis protrusion speed of the tunnel face and the maximum protrusion degree of the tunnel face.
  • the processor includes an early warning module that sets an initial threshold for the protrusion of the tunnel face according to the level of the surrounding rock. Or/and when the maximum protrusion of the tunnel face exceeds the set initial threshold, an alarm is issued.
  • the mobile vehicle is controlled by a remote control device
  • the remote control device includes an input module for controlling the walking of the mobile mechanism and a device for controlling the operation of the vertical laser rangefinder. Enter the module.
  • the data storage module and the processor interact with the remote PC terminal through the communication module, and the remote PC terminal calls the palm face monitoring data and displays real-time palm face through calculation Axis contour map, with the vertical direction laser rangefinder laser emitting point as the origin, the horizontal direction and the vertical direction as the x, y axis respectively, establish a plane rectangular coordinate system, and convert the measured data into coordinate points.
  • the least squares method can be used to fit discrete points in the coordinate system to a curve to represent the contour of the axis of the tunnel face, and the images obtained at each time can be superimposed, which is more intuitive Indicates the deformation of the tunnel face.
  • the corresponding launch angle and launch time calculate the axis protrusion of the tunnel face at each time point, predict the axis protrusion speed of the tunnel face and the maximum protrusion of the tunnel face , If the predicted value is greater than the set threshold, an alarm will be processed.
  • This disclosure breaks through the collapse warning mode of the conventional tunnel engineering perimeter clearance convergence measurement and geophysical detection, shifts the warning mechanism to the information changes of the protrusion degree and the protrusion speed of the tunnel face, and provides accurate detection methods. A new early warning program was formed.
  • the mobile car body part of the present disclosure can be completely controlled by the vehicle control module, without manual adjustment and installation and disassembly of the device, which saves manpower and is simple and convenient to operate; it solves the technical problem of prediction and early warning of the deformation of the central axis of the face, The positioning of the device in the tunnel's central axis is accurate.
  • the present disclosure solves the disadvantages of the previous tunnel rock mass deformation monitoring methods that the measured data error is large and is limited to the displacement measurement around the tunnel.
  • the horizontal laser rangefinder and the angle sensor realize the accurate measurement of the tunnel rock mass deformation ;
  • the processor is placed on the vehicle body and directly connected with each measuring device, which can realize the automation of data processing and the dynamic analysis of the whole process;
  • the convexity threshold of the tunnel face of the present disclosure is dynamically adjusted according to the actual calculated value, combined with the actual environment and the uniqueness of the excavated tunnel’s impact on the deformation of the rock mass, to achieve the applicability of each tunnel and satisfy The particularity of geotechnical engineering;
  • the present disclosure can generate images of the measured data through calculation, visualize the deformation of the tunnel face, and facilitate more intuitive monitoring of the conditions of the tunnel rock mass.
  • Figure 1 is a schematic diagram of the system structure connection of this embodiment
  • Figure 2 is a schematic diagram of the vehicle body structure of this embodiment
  • FIG. 3 is a schematic diagram of the structure of the mobile module of this embodiment.
  • FIG. 5 is a schematic diagram of the vehicle body structure of the tunnel face monitoring module of this embodiment.
  • FIG. 6 is a schematic plan view of the control module and the mobile PC terminal of this embodiment.
  • FIG. 7 is a schematic diagram of a reflecting plate placed on the tunnel face of the present embodiment.
  • FIG. 8 is a schematic diagram of the axis profile of the palm face output by the mobile PC terminal of this embodiment.
  • the present disclosure provides a tunnel collapse monitoring and early warning system, which includes a mobile module, a face monitoring module, a data storage module, a data analysis module, an early warning module, a control module, and a remote PC terminal;
  • the mobile module includes an automatic leveling device, a horizontal laser rangefinder, wheels, an angle measuring and controlling device, a distance measuring and controlling device, and a GPS positioning system.
  • the automatic leveling device includes a level bubble, a disc-shaped position sensor and a leveling column; The level bubble is placed in the center of the upper surface of the vehicle body, and the disc-shaped position sensor under the bubble is positioned at the centroid of the position sensor by adjusting the leveling column; the leveling column is placed on the support between the vehicle body and the four wheels Column, can be precise telescopic;
  • the horizontal laser rangefinder is fixed on the center of the front of the vehicle by the shaft in the vertical direction, and the distance X1, X2 from the reflector at both ends of the palm face is measured;
  • the four wheels are connected by a shock-absorbing drive shaft to adapt to the uneven road surface in the tunnel.
  • a gear is set above the wheels and a chain is used to ensure that the four wheels turn in series;
  • the angle measuring controller is placed on one wheel and horizontal laser ranging respectively
  • the upper part of the instrument is respectively controlled by the angle to control the left and right rotation of the wheel and to measure the angle ⁇ 0 between the laser and the straight front when the horizontal laser instrument measures the distance on the right side;
  • the angle measuring and controlling device are respectively connected to the longitudinal center point of the wheel and the rotating shaft of the horizontal laser rangefinder to ensure that the display angle of the dial is the left and right rotation angle of the wheel and the laser emission angle.
  • the distance measuring and controlling device is an angle measuring and controlling device connected with the wheel axle, which controls the running distance of the vehicle body by setting the rolling angle of the wheel.
  • the GPS positioning system is placed in the middle and rear of the car body to provide accurate position information of the car body;
  • the tunnel face monitoring module includes a vertical laser rangefinder and an angle sensor
  • the vertical laser rangefinder is fixed on the top of the car body by a shaft in a horizontal direction and can be rotated longitudinally around the shaft; the angle sensor is placed on one side of the vertical laser rangefinder to measure the angle between each laser emission and the horizontal plane.
  • the data storage module is a data storage, which is placed in the rear of the vehicle body and is connected to the face monitoring module through a data transmission beam, and stores the time t 1 , t 2 , ... t n , and the real-time distance measured by the vertical laser rangefinder respectively.
  • the data analysis module includes a vehicle body adjustment calculation device, a palm face protrusion degree calculation device and a palm face protrusion degree prediction device, all of which are placed under the data storage module.
  • the vehicle body adjustment calculation device uses the data transmission beam to receive the data measured by the horizontal laser rangefinder and the angle measuring controller located on the side of the mobile module to calculate the path of the vehicle body to the axis position of the palm face, and transmit it to the mobile module.
  • the vehicle body adjustment calculation device uses the triangle theorem to calculate the angle ⁇ required for the horizontal rotation of the wheel, the travel distance X, and the rolling angle ⁇ X when the wheel is moving forward:
  • R 1/2 times the length of the bottom side of the tunnel face
  • X 0 is the distance between the planned measuring point and the tunnel face axis
  • r is the outer radius of the wheel
  • the second calculation principle for car body adjustment is also provided: the GPS positioning system in the mobile module can be used to ensure the position of the car body on the tunnel axis.
  • the priority of the two car body adjustment calculation principles is: if the tunnel is under construction of the secondary lining or the side wall is partially blocked due to construction, GPS positioning is used alone. If there are no obstructions on the side wall of the tunnel, the coordinated pre-judgment criterion of angle measuring and controlling device, distance measuring and controlling device and GPS positioning is adopted.
  • manual selection can also be used to determine the selection principle and mode of the vehicle body adjustment criterion.
  • the tunnel face protrusion degree calculation device is connected with the data storage module through the data transmission beam, and calculates the tunnel face axis protrusion degree ⁇ n according to the recalled stored data:
  • the protruding degree prediction device of the tunnel face analyzes the protruding degree of the tunnel face axis at each time point, and predicts the protrusion speed of the tunnel face axis and the maximum protrusion degree of the tunnel face;
  • the tunnel face protrusion degree prediction algorithm is stored in the tunnel face protrusion degree prediction device.
  • the algorithm for predicting the axis protrusion speed and the protrusion degree of the tunnel face can be a Gaussian process regression algorithm or a BP neural network algorithm. Through the above two optimization algorithms, it is possible to predict the axis protrusion speed of the tunnel face and the maximum protrusion degree of the tunnel face.
  • the forecast data is automatically transferred to the data storage module.
  • the calculated protrusion degree can be used for prediction.
  • the protrusion degree indicates the deformation degree of the tunnel face.
  • the collapse can be predicted by reflecting the surrounding rock conditions of the tunnel; the process of prediction is that when the protrusion degree of the tunnel face reaches a certain threshold, that is, the deformation reaches the limit, the collapse will proceed. Early warning.
  • the data storage format of the data storage module is .xlsx format.
  • the original measurement data and prediction data built in the data storage module can be output in the .xlsx format.
  • the threshold analyzer is placed on the vehicle body, and the initial threshold of the protrusion degree of the tunnel face is set according to the grade of the surrounding rock.
  • the initial threshold of grade I surrounding rock is A0
  • the initial threshold of grade II to III surrounding rock is B0
  • the initial threshold of grade-class surrounding rock is C0 (A0 ⁇ B0 ⁇ C0);
  • the working principle of the threshold analyzer is that if any index of the degree of protrusion of the face of the face or the speed of protrusion of the face of the face exceeds the threshold, the early warning module will give an early warning.
  • the threshold value analysis device s built-in early warning and dynamic correction minimum algorithm, its principle is: the axis protrusion degree ⁇ n of the tunnel face obtained in real time through the data analysis module, when the surrounding rock collapses at a certain time, select the current threshold value and the time ⁇ n The smaller value is used as the new threshold.
  • the early warning module includes a threshold analysis device and a sound and light alarm device.
  • the sound and light alarm device is placed at the front end of the remote control.
  • the threshold value analysis device sends a wireless signal to the sound and light alarm device.
  • the red light of the alarm device flashes and a voice prompt is issued.
  • the provided early warning system may also include a control module, which specifically includes a display, wheel control knobs, car body adjustment buttons, palm surface monitoring buttons and data transmission parts, all of which are set on the remote control wirelessly connected to the data storage module; the display shows the operation Prompt and calculation result of data analysis module.
  • the wheel control knobs include left-turn, right-turn and right-turn gears, and the forward direction of the car body is controlled by adjusting the left and right rotation of the wheels;
  • the car body adjustment buttons include the calibration key and the move key, which control the car body to measure the axis of the car body and the palm face.
  • the palm surface monitoring button includes a start key and a stop key, which control the start and end of the vertical laser rangefinder measurement;
  • the calibration key controls the horizontal laser rangefinder to start to rotate, the corresponding data is measured, and the calculated result is the angle ⁇ required for the horizontal rotation of the wheel and the rolling angle ⁇ x when the wheel advances are displayed on the display;
  • the wheel control knob displays the ⁇ value according to the display Rotate at a certain angle, if ⁇ 0, turn to the right gear to turn the wheel to the right, otherwise, turn to the left gear;
  • the movement key controls the wheel to start moving according to the ⁇ x value displayed on the display;
  • the control data transmission part includes the storage key, the clear key and the Type-C interface, which is used to wirelessly transmit the test results of the palm face from the data storage module to the memory card in the remote control and the mobile PC;
  • the empty key controls the memory card content in the remote control to be deleted, ensuring the accuracy of the monitoring data in the next face.
  • the remote PC terminal is a computer, which uses the Type-C line to connect to the remote control to call the face monitoring data and display real-time face axis contour maps through calculations.
  • the imaging principle is to use the vertical laser rangefinder as the origin.
  • the horizontal direction and the vertical direction are the x and y axes respectively to establish a plane rectangular coordinate system, and convert the measurement data into coordinate points:
  • the PC-side computer has built-in visualization function: the curve that fits all the coordinate points at each moment is the contour of the palm face axis.
  • the projection degree predictor of the tunnel face analyzes the projection degree of the tunnel face axis at each time point by using the regression prediction analysis method to form a chart with the projection degree on the abscissa of time as the ordinate. Predict the axis protrusion speed of the tunnel face and the maximum protrusion degree of the tunnel face by parameters such as convergence value and slope change;
  • the basic quality index BQ of surrounding rock can be used to determine the classification of surrounding rock
  • the least square method is used to fit the discrete points calculated by the remote PC to a curve to represent the contour of the tunnel face axis, and the images obtained at each time are superimposed to more intuitively show the deformation of the tunnel face.
  • the present invention mainly includes a mobile module, a face monitoring module, a data storage module, a data analysis module, an early warning module, a control module, and a remote PC terminal to realize the prevention of tunnel collapse Monitoring and early warning purposes.
  • the mobile module includes an automatic leveling device, a horizontal laser rangefinder (4), wheels (6), an angle measuring controller (9), a distance measuring controller (10) and a GPS positioning system (11).
  • the automatic leveling device is composed of a leveling bubble (1), a disc-shaped position sensor (2) and a leveling column (3).
  • the leveling column expands and contracts so that the leveling bubble is located at the center of the disc-shaped position sensor to realize the car body Real-time automatic leveling function;
  • the horizontal laser rangefinder (4) is connected by a rotatable shaft (5), which realizes the function of automatically measuring the distance between the car body and the two ends of the face through the horizontal rotation;
  • the upper end of the wheel (6) The gear (7) is connected in series by a chain (8) to ensure the same rotation of the four wheels;
  • the angle measuring controller (9) and the distance measuring controller (10) realize the control of the car body to move to a specific position on the axis of the palm face; GPS positioning
  • the system (11) cooperates with the horizontal laser ranging method to predict and realize the positioning function of the vehicle body.
  • the palm face monitoring module includes a vertical laser rangefinder (12) and an angle sensor (13).
  • the vertical laser rangefinder has the same structure as the horizontal laser rangefinder, and is connected by a rotatable shaft (5) to realize the function of automatically measuring the distance between the car body and each point on the axis of the face of the face by rotating the vertical direction;
  • the angle sensor (13) is fixed with one end of the shaft (5) to realize the function of automatically measuring the laser emission angle.
  • the data storage module is a data storage (14), which realizes the functions of receiving and storing monitoring data in .xlsx format through the data transmission beam (15).
  • Data analysis module including a vehicle body adjustment calculation device (16), a palm face protrusion degree calculation device (17) and a palm face protrusion degree prediction device (18).
  • the vehicle body adjustment calculation device (16) and the GPS positioning system (11) cooperate to realize the automatic calculation function of the path of the vehicle body moving to a specific position on the axis of the tunnel face.
  • the tunnel face protrusion degree calculation device (17) realizes the tunnel face protrusion
  • the automatic calculation function of the tunnel face protrusion degree (18) analyzes the existing protrusion data through the Gaussian process regression algorithm or the BP neural network algorithm to realize the real-time prediction of the maximum protrusion degree and the protrusion speed of the tunnel face in the future.
  • the early warning module includes a threshold value analysis device (19) and a sound and light alarm device (20).
  • the threshold value analysis device (19) realizes the determination of the next time threshold and the real-time prominence comparison function through the early warning dynamic correction minimum algorithm.
  • the sound and light alarm device ( 20) Realize the early warning function for the collapse.
  • the control module includes a display (21), a wheel control knob (22), a vehicle body adjustment button, a palm surface monitoring button and a data transmission part.
  • the display (21) realizes the function of operating prompts and the calculation results of the data analysis module;
  • the wheel control knob (22) controls the forward direction of the car body;
  • the car body adjustment button includes the calibration key (23) and the movement key (24) to realize the position measurement of the car body And the function of controlling the car body to move to the axis of the palm face;
  • the palm face monitoring button includes a start button (25) and a stop button (26) to realize the control function of the palm face monitoring;
  • the data transmission part includes a storage key (27) , Clear key (28) and Type-C interface (29) to realize the storage, deletion and transmission of monitoring data.
  • the remote PC terminal (30) realizes the visualization function by calculating the monitoring data and drawing a real-time contour map of the axis of the face.
  • the horizontal laser rangefinder (4) is connected with the shaft (5), and the upper end of the shaft is just connected with the pointer of the angle measuring controller (9), that is, the angle at which the horizontal laser rangefinder emits laser light is the shaft
  • the rotation angle of the rod is the same as the angle of the pointer of the angle measuring controller, which ensures that the angle measuring controller is used to measure the distance between the car body and the reflectors at both ends of the face of the face (as shown in Figure 7)
  • the emission angle of the laser is measured;
  • the GPS positioning system (11) shown in Figure 4 can directly display the precise position of the car body and the relationship with the axis of the palm face; the two work together, and the measurement principle and Mode to achieve quick and effective positioning of the initial position of the car body.
  • the structure of the vertical laser rangefinder (12) and the angle sensor (13) is the same as the above-mentioned laser positioning device, that is, the device is rotated 90 degrees to make the laser rangefinder and the angle sensor pointer vertically
  • the direction rotation works together with the reflector for the axis position of the tunnel face as shown in Fig. 6 to achieve the purpose of measuring the distance between the reflector of the car body and the axis of the tunnel face and the angle between the laser and the horizontal plane.
  • the threshold analyzer (19) uses the early warning dynamic correction minimum algorithm to compare the tunnel face axis protrusion calculated by the tunnel face protrusion calculation device (17) with the tunnel face axis protrusion at the moment when the surrounding rock collapses. Select a smaller value as the new threshold; compare the real-time axis protrusion degree of the tunnel face with the threshold value at that moment, if any index of the protrusion degree of the tunnel face or the speed of the tunnel face exceeds the threshold, the sound and light alarm device ( 20). The device flashes red light and emits voice prompts to achieve the purpose of timely and effective early warning of tunnel collapse.
  • the data memory (14) transmits the initial data obtained by the tunnel face monitoring module to the remote PC terminal (30) through the remote control.
  • the built-in device of the PC terminal calculates the lateral distance and the distance between each point on the tunnel face axis and the car body through the triangle theorem.
  • the vertical distance is marked in the plane rectangular coordinate system with the car body as the origin, the front and the vertical directions as the x and y axes, and is fitted to a curve at the corresponding time, so as to achieve the purpose of visualizing the contour of the face axis.
  • the judgment device (18) uses Gaussian process regression algorithm or BP neural network algorithm to calculate the axis protrusion speed and the protrusion degree of the tunnel face and sends a wireless signal to display on the display screen (21).
  • press Stop Key (26) When the tunnel face monitoring is finished, press Stop Key (26);
  • the embodiments of the present disclosure can be provided as methods, systems, or computer program products. Therefore, the present disclosure may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present disclosure may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.
  • a computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device.
  • the device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.
  • These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment.
  • the instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

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Abstract

一种车载式隧道塌方监测预警系统，包括移动车辆，该移动车辆上搭载有掌子面监测模块、数据存储模块和处理器。该系统能够进行掌子面突出程度、隧道岩体稳定性等情况的全自动实时监测及数据分析并预测，从而预警塌方的发生。车体部分完全通过控制模块控制，无需进行手动调整及装置的安装及拆卸工作，节约人力且操作简单便捷；解决了掌子面中轴变形预测预警的技术难题，装置在隧道中轴定位实现了精确化。解决了以往隧道岩体变形监测方法中测得数据误差大、且局限于隧道洞周位移量测的弊端，实现了对隧道掌子面突出变形的精确测量。还公开了该系统的工作方法。

Description

一种车载式隧道塌方监测预警系统及方法 技术领域
本公开涉及一种车载式隧道塌方监测预警系统及方法。
背景技术
本部分的陈述仅仅是提供了与本公开相关的背景技术信息，不必然构成在先技术。
在隧道施工过程中，复杂的地质条件给隧道工程施工安全带来了极大的挑战。塌方，是最为常见的地质灾害之一，其造成了工期延误，设备损坏，为国家带来了经济损失；甚至造成了人员伤亡及工程报废。
为避免塌方事故的发生，本领域的技术人员多从塌方灾害处治、不良地质超前预报与隧道净空收敛监控量测(隧道周边相对位移)的三种角度解决塌方预防预警技术难题。
但是，据发明人了解，通过不良地质超前预报方式解决塌方预防预警问题，多存在仅超前地质预报与常规施工监控量测的相互辅助，难以避免塌方灾害的发生，且超前预报中监控量测构成部分以隧道洞周相对位移为主，而隧道掌子面因支护情况较差，更易产生塌方。
以隧道周边相对位移监测来进行塌方的预防方式的缺点在于：通过洞周变形监测位移，能够监测拱顶沉降与周边收敛带来的塌方前兆信息，但是很多塌方是由开挖面开始呈现前兆信息的，因此该方案更多是用来监测支护后的支护效果，对于开挖后最危险的掌子面区域并未涉及监测预警，同时，这种方式的预警机制为净空收敛变化，但隧道开挖总要产生一个较为快速的变形阶段，因此单纯的以净空收敛速率为报警阈值的技术方案存在延误工期的缺陷，这种方式不会涉及掌子面监测信息，而掌子面自稳能力较弱是隧道工程产生塌方的重要原因。
以监测掌子面沿隧道轴向变形的方法来进行塌方的预报，这种方式多采用沿掌子面布设反光片，其反光片与测距装置的激光束垂直，在掌子面各个位置布设反光片，两次测量的差值为掌子面沿隧道轴向位移，存在如下缺陷：1)隧道后方必然施做二次衬砌，如施做二次衬砌则激光测距仪将被拆卸，致使无法监测；需要人为调整，拆卸，安装测距装置，不可避免地对测距装置产生扰动，会产生较大误差；需沿隧道壁布设大量测距仪，若与掌子面各反光片垂直布设，则占用大量隧道后方净空，致使前方无法施工，且施工台车无法开入。
综上所述，上述几种方式在隧道塌方预警过程中都有比较大的限制和不足。
发明内容
本公开为了解决上述问题，提出了一种车载式隧道塌方监测预警系统及方法，本公开可 应用于任一隧道工程的开挖中，实现对掌子面突出程度、隧道岩体稳定性等情况的全自动实时监测、数据分析与预报预警。
根据一些实施例，本公开采用如下技术方案：
一种车载式隧道塌方监测预警系统，包括移动车辆，所述移动车辆上搭载有掌子面监测模块、数据存储模块和处理器，其中：
所述移动车辆包括底盘和位于底盘下端的移动机构，所述底盘设置有车身主体前端设置有测距机构，用于测定设置位置与掌子面的距离，所述移动机构上设置有角度测控器，分别通过角度控制移动机构的转动以及与车身主体正前方的夹角，所述移动机构上还设置有行进距离测量机构，以测量移动机构的运动距离；
所述掌子面监测模块包括竖直向激光测距仪和角度传感器，所述竖直向激光测距仪通过转动轴水平设置于车身主体顶部，且竖直向激光测距仪可绕转动轴纵向旋转，所述角度传感器置测量竖直向激光测距仪发射的激光与水平面的夹角；
所述数据存储模块，与掌子面监测模块相连接，存储竖直向激光测距仪测得的实时距离值、对应的发射角度和发射时间；
所述处理器，被配置为接收测距机构和角度测控器测得的数据，计算得到车体到达掌子面轴线位置的路径；接收数据存储模块中的存储信息，并计算各时间点掌子面轴线突出度，预测掌子面轴线突出速度及该掌子面的最大突出度，若预测值大于设定的阈值时进行报警处理。
本公开不再以不良地质超前预报与隧道净空收敛监控量测为手段进行塌方的预测与预警，而是利用车载式的预警系统，利用行进轨迹，和采集的数据相结合，对掌子面突出程度、隧道岩体稳定性等情况的全自动实时预报预警。
只需要对现有的隧道施工车辆进行些许改造即可，不用对掌子面或隧道其他部位进行大型的改造，不会占用大量隧道后方净空，致使前方无法施工，同时，人员参与程度低，检测结果不受人为因素干扰。
作为一种或多种实施例中可选择的方案，所述车身主体和底盘之间设置有自动调平机构，实现车身主体的整体水平；所述移动机构为多个车轮，所述车轮与底盘连接，底盘上与车轮相对应的位置与车身主体之间设置有一支撑柱，所述自动调平机构包括水准气泡、圆盘状位置感应器和调平柱，所述圆盘状位置感应器置于车身主体表面中心位置，水准气泡设置于圆盘状位置感应器的圆盘内，所述调平柱置于支撑柱上，通过调整各个调平柱可以使水准气泡 位于圆盘状位置感应器的形心。
作为一种或多种实施例中可选择的方案，所述测距机构为水平激光测距仪，所述角度测控器分别置于车轮和水平激光测距仪上部，分别通过角度控制车轮左右转动与测定水平激光测距仪发射激光时，水平激光测距仪与车体行进正前方的夹角；所述距离测控器置于其中一个车轮外侧，控制车体的行进距离。
作为一种或多种实施例中可选择的方案，所述移动车辆上还设置有GPS定位系统，提供移动车辆的位置信息。
作为一种或多种实施例中可选择的方案，所述处理器包括车体调整计算单元，所述车体调整计算单元通过数据传输束接收水平向激光测距仪和位于其侧的角度测控器测得的数据计算得到车体到达掌子面轴线位置的路径，并传输至角度测控器和距离测控器，进一步控制移动机构的行进，利用三角定理计算得到车轮水平方向转动所需角度、行驶距离和车轮前进时滚动角度。
作为一种或多种实施例中可选择的方案，利用所述GPS定位系统保证移动车体沿隧道中轴位置运行，如果隧道正在施工二次衬砌或因施工造成边墙部分遮挡，则单独采用GPS定位进行车体的调整；
如果无遮挡物，则采用角度测控器、距离测控器与GPS定位系统进行协同调整车体的运行状态。
作为一种或多种实施例中可选择的方案，所述处理器包括掌子面突出度计算单元，通过数据传输束与数据存储模块连接，根据调用的存储数据计算掌子面轴线突出度，所述掌子面轴线突出度为竖向激光测距仪i时刻测得的实时距离值与初始时刻测得的实时距离值的差值，除以间隔时间后与竖向激光测距仪i时刻的发射角度余弦值相乘。
作为一种或多种实施例中可选择的方案，所述处理器包括掌子面突出度预判单元，掌子面突出度预判单元与所述掌子面突出度计算单元连接，利用高斯过程回归预测算法或BP神经网络算法，根据突出度的计算值对掌子面轴线突出速度与掌子面最大突出度进行预测。
作为一种或多种实施例中可选择的方案，所述处理器包括预警模块，所述预警模块根据围岩等级设定掌子面突出度的初始阈值，当预测的掌子面轴线突出速度或/和掌子面最大突出度超过设定初始阈值时，进行报警。
作为一种或多种实施例中可选择的方案，所述移动车辆受遥控装置控制，所述遥控装置包括用语控制移动机构的行走的输入模块和用于控制竖直向激光测距仪工作的输入模块。
作为一种或多种实施例中可选择的方案，所述数据存储模块和处理器通过通信模块与远程PC端交互，所述远程PC端调用掌子面监测数据并通过计算显示实时掌子面轴线轮廓图，以竖直向激光测距仪激光发射点为原点，水平方向和竖直方向分别为x,y轴，建立平面直角坐标系，将测量数据换算成坐标点。
作为一种或多种实施例中可选择的方案，可以用用最小二乘法将坐标系中的离散点拟合成曲线来表示掌子面轴线轮廓，并将各时刻所得图像叠加，更直观地表示掌子面变形情况。
基于上述系统的工作方法，在移动车辆行进的过程中，测量车辆位置与掌子面的距离，测量移动机构的运动距离；
接收测距机构和角度测控器测得的数据，计算得到车体到达掌子面轴线位置的路径；
根据竖直向激光测距仪测得的实时距离值、对应的发射角度和发射时间，计算各时间点掌子面轴线突出度，预测掌子面轴线突出速度及该掌子面的最大突出度，若预测值大于设定的阈值时进行报警处理。
与现有技术相比，本公开的有益效果为：
1)本公开突破了与常规隧道工程洞周净空收敛量测和地球物理探测的塌方预警模式，将预警机制转移到掌子面突出度与突出速度的信息变化，并给出了精确探测手段，形成了全新的预警方案。
2)本公开的移动车体部分完全可以通过车辆控制模块控制，无需进行手动调整及装置的安装及拆卸工作，节约人力且操作简单便捷；解决了掌子面中轴变形预测预警的技术难题，装置在隧道中轴定位实现了精确化。
3)只需要对现有的隧道施工车辆进行些许改造即可，不用对掌子面或隧道其他部位进行大型的改造，不会占用大量隧道后方净空，致使前方无法施工。
4)本公开解决了以往隧道岩体变形监测方法中测得数据误差大、且局限于隧道洞周位移量测的弊端，通过水平激光测距仪和角度传感器实现对隧道岩体变形的精确测量；
5)本公开将处理器置于车体上并与各测量装置直接连接，能够实现对数据处理的自动化与全过程动态分析；
6)本公开的掌子面凸出度阈值根据实际计算值进行动态调整，结合实际环境和开挖隧道的独特性对岩体变形产生的影响，实现了对每一隧道的适用性，满足了岩土工程的特殊性；
7)本公开通过连接远程PC端，可以通过计算对测得数据进行图像生成，使隧道掌子面变形情况可视化，便于更加直观地监测隧道岩体情况。
附图说明
构成本公开的一部分的说明书附图用来提供对本公开的进一步理解，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。
图1是本实施例的系统结构连接示意图；
图2是本实施例的车体结构示意图；
图3是本实施例的移动模块的结构示意图；
图4是本实施例的激光测距仪与角度测控器示意图；
图5是本实施例的除掌子面监测模块的车身结构示意图；
图6是本实施例的控制模块和移动PC端的平面示意图；
图7是本实施例的隧道掌子面上放置反射板示意图；
图8是本实施例的移动PC端输出的掌子面轴线轮廓示意图；
其中，1-水准气泡、2-圆盘状位置感应器、3-调平柱、4-水平激光测距仪、5-轴杆、6-减震驱动轴杆、7-齿轮、8-链条、9-角度测控器、10-距离测控器、11-GPS定位系统、12-竖直向激光测距仪、13-角度传感器、14-数据存储器、15-数据传输束、16-车体调整计算器、17-掌子面突出度计算装置、18-掌子面突出度预判装置、19-阈值分析器、20-声光报警装置、21-显示器、22-车轮控制旋钮、23-校准键、24-移动键、25-开始键、26-停止键、27-存储键、28-清空键、29-Type-C接口、30-远程PC端。
具体实施方式：
下面结合附图与实施例对本公开作进一步说明。
应该指出，以下详细说明都是例示性的，旨在对本公开提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本公开所属技术领域的普通技术人员通常理解的相同含义。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本公开的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合。
正如前面所述的，现有的技术方案在隧道塌方预警过程中都有比较大的限制和不足。为了解决这个问题，本公开提供一种隧道塌方监测及预警系统，包括移动模块、掌子面监测模块、数据存储模块、数据分析模块、预警模块、控制模块与远程PC端；
以轮式车辆为例进行说明。
移动模块包括自动调平装置、水平激光测距仪、车轮、角度测控器、距离测控器与GPS定位系统，其中，自动调平装置包括水准气泡、圆盘状位置感应器和调平柱；所述水准气泡置于车身上表面中心位置，气泡下圆盘状位置感应器通过调整调平柱使水准气泡位于位置感应器形心；所述调平柱置于车身与四个车轮之间的支撑柱，可进行精密伸缩；
水平激光测距仪由轴杆以竖直方向固定在车头中心位置，测定与掌子面两端反射板的距离X1、X2；
四个车轮由减震驱动轴杆连接以适应隧道内不平坦的路面，车轮上方设置齿轮并利用链条串连保证四个车轮转向一致；所述角度测控器分别置于一个车轮和水平激光测距仪上部，分别通过角度控制车轮左右转动与测定水平激光仪测右侧距离时激光与正前方的夹角α0；所述距离测控器置于其中一个车轮外侧，控制车体的行进距离；
角度测控器分别车轮纵向中心点和水平向激光测距仪转轴刚接，保证表盘显示角度即为车轮左右转动角度和激光发射角度。
距离测控器为和车轮轮轴相连的角度测控器，通过设定车轮滚动角度控制车体运行距离。
GPS定位系统置于车身正中后部，提供车体的精确位置信息；
掌子面监测模块包括竖直向激光测距仪和角度传感器；
竖直向激光测距仪由轴杆以水平方向固定在车体顶部，可绕轴纵向旋转；角度传感器置于竖向激光测距仪的一侧，测量每次激光发射与水平面的夹角。
数据存储模块为数据存储器，置于车身后部，通过数据传输束与掌子面监测模块连通，分别存储时间t 1、t 2、……t n、竖向激光测距仪测得的实时距离值l n1、l n2、……、l ni及对应的激光发射角度β 1、β 2、……β i；
数据分析模块包括车体调整计算装置、掌子面突出度计算装置和掌子面突出度预判装置，均置于数据存储模块下方。
设置调平保证水平激光测距仪在水平面上转动，便于在掌子面两侧同一高度提前放置反射板，且消除因倾斜造成的测距不准的误差。
车体调整计算装置通过数据传输束接收移动模块中水平向激光测距仪和位于其侧的角度测控器测得的数据计算得到车体到达掌子面轴线位置的路径，并传输至移动模块的角度测控器和距离测控器；
车体调整计算装置利用三角定理计算得到车轮水平方向转动所需角度α、行驶距离X和车轮前进时滚动角度θ X：
Figure PCTCN2020073573-appb-000001
Figure PCTCN2020073573-appb-000002
Figure PCTCN2020073573-appb-000003
其中R为1/2倍的掌子面底边长，X 0为拟定测点与掌子面轴线的距离，r为车轮外缘半径；
也提供第二种车体调整计算原理：可通过移动模块中的GPS定位系统以保证车体在隧道中轴位置。
两种车体调整计算原理的优先程度为：若隧道正在施工二次衬砌或因施工造成边墙部分遮挡，则单独采用GPS定位。若隧道边墙未有遮挡物，则采用角度测控器、距离测控器与GPS定位的协同预判准则。
当然，也可采用人工选择的方式确定车体调整准则选取原理与模式。
掌子面突出度计算装置通过数据传输束与数据存储模块连接，根据调用的存储数据计算掌子面轴线突出度δn：
Figure PCTCN2020073573-appb-000004
掌子面突出度预判装置对各时间点掌子面轴线突出度进行分析，预测掌子面轴线突出速度及该掌子面的最大突出度；
当然，掌子面突出度预判装置内存储有掌子面突出度预测算法。预测掌子面轴线突出速度和掌子面突出度的算法可以是高斯过程回归算法，也可以是BP神经网络算法。通过上述两种优选算法，可以对掌子面轴线突出速度与掌子面最大突出度进行预测。预测数据自动传输至数据存储模块。
利用计算的突出度可以进行预测，突出度表示掌子面变形程度，通过反映隧道围岩情况即可预测塌方；预测的过程即当掌子面突出度达到一定阈值，即变形达到极限，进行塌方预警。
作为一种可选的方案，数据存储模块的数据存储格式为.xlsx格式。
数据存储模块中内置原始测量数据与预测数据可以通过.xlsx格式输出。
所述阈值分析器置于车身上，根据围岩等级设定掌子面突出度的初始阈值，Ⅰ级围岩的初始阈值为A0、Ⅱ～Ⅲ级围岩的初始阈值为B0、Ⅳ～Ⅴ级围岩的初始阈值为C0(A0﹤B0﹤C0)；
阈值分析器的工作原理是，若掌子面突出度或掌子面突出速度任一指标超过阈值，则预警模块进行预警。
阈值分析装置的内置预警动态修正最小值算法，其原理是：通过数据分析模块实时获取的掌子面轴线突出度δn，当在某时刻围岩发生塌落，选取为当前阈值与该时刻δn的较小值作为新的阈值。
预警模块包括阈值分析装置和声光报警装置，其中，声光报警装置置于遥控器前端，当测得掌子面轴线突出度δn小于当前阈值时阈值分析装置向声光报警装置发送无线信号，报警装置红灯闪烁并发出语音提示。
提供的预警系统还可以包括控制模块，具体包括显示器、车轮控制旋钮、车体调整按钮、掌子面监测按钮和数据传输部分，均设于与数据存储模块无线连接的遥控器上；显示器显示操作提示与数据分析模块计算结果。车轮控制旋钮包括左转、调正和右转档，通过调整车轮左右转动控制车体前进方向；车体调整按钮包括校准键和移动键，控制车体测算出车体与掌子面轴线平齐所需的运行轨迹并进行移动；所述掌子面监测按钮包括开始键和停止键，控制竖直向激光测距仪测量得开始与结束；
当校准键控制水平激光测距仪开始转动，测出对应数据，计算所得结果车轮水平方向转动所需角度α和车轮前进时滚动角度θx显示在显示器上；所述车轮控制旋钮根据显示器显示α值转动一定角度，若α﹤0则扭至右转档使车轮向右侧转，反之则扭至左转档；所述移动键控制车轮按显示器显示θx值开始行进；
控制数据传输部分包括存储键、清空键和Type-C接口，用来将掌子面检测结果由数据存储模块无线传输至遥控器内存储卡和移动PC端；
清空键控制遥控器内存储卡内容全部删除，保证下一个掌子面的监测数据准确性。
远程PC端为计算机，通过Type-C线与遥控器连接调用掌子面监测数据并通过计算显示实时掌子面轴线轮廓图，其成像原理为以竖直向激光测距仪激光发射点为原点，水平方向和竖直方向分别为x,y轴建立平面直角坐标系，将测量数据换算成坐标点：
x＝l ni·cosβ i
y＝l ni·sinβ i
PC端计算机内置可视化功能：将每一时刻所有坐标点拟合成的曲线则为掌子面轴线轮廓。
当然，在部分实施例中，掌子面突出度预判器利用回归预测分析法对各时间点掌子面轴线凸出度进行分析，形成以时间为横坐标凸出度为纵坐标的图表，通过收敛值、斜率变化等参数预测掌子面轴线突出速度及该掌子面的最大凸出度；
在部分实施例中，可以通过围岩基本质量指标BQ确定围岩分级；
在部分实施例中，用最小二乘法将远程PC端计算出的离散点拟合成曲线来表示掌子面轴线轮廓，并将各时刻所得图像叠加，更直观地表示掌子面变形情况。
以具体实施例来说，作为一个完整的监测预警系统，本发明主要包括移动模块、掌子面监测模块、数据存储模块、数据分析模块、预警模块、控制模块、远程PC端，实现对隧道塌方的监测及预警目的。
如图1所示，移动模块：包括自动调平装置、水平激光测距仪(4)、车轮(6)、角度测控器(9)、距离测控器(10)与GPS定位系统(11)。其中自动调平装置由水准气泡(1)、圆盘状位置感应器(2)和调平柱(3)组成，通过调平柱伸缩使水准气泡位于圆盘状位置感应器中心，实现车体的实时自动调平功能；水平激光测距仪(4)由可转动的轴杆(5)连接，实现通过水平方向转动自动测量车体到掌子面两端距离的功能；车轮(6)上端齿轮(7)由链条(8)串连，保证四个车轮转向一致；角度测控器(9)和距离测控器(10)实现控制车体移动至掌子面轴线上某一特定位置；GPS定位系统(11)与水平激光测距方式协同预判，实现对车体的定位功能。
如图3所示，掌子面监测模块：包括竖直向激光测距仪(12)和角度传感器(13)。其中竖直向激光测距仪结构同水平激光测距仪相同，由可转动的轴杆(5)连接，实现通过竖直方向转动自动测量车体到掌子面轴线上各点距离的功能；角度传感器(13)与轴杆(5)的一端固定以实现自动测量激光发射角度的功能。
数据存储模块为数据存储器(14)，通过数据传输束(15)实现接收和以.xlsx格式存储监测数据的功能。
数据分析模块：包括车体调整计算装置(16)、掌子面突出度计算装置(17)和掌子面突出度预判装置(18)。车体调整计算装置(16)与GPS定位系统(11)协同实现车体移动至掌子面轴线某一特定位置的路径自动计算功能，掌子面突出度计算装置(17)实现掌子面突出度自动计算功能，掌子面突出度预判装置(18)通过高斯过程回归算法或是BP神经网络算法分析已有突出度数据实现未来一段时间内掌子面最大突出度及突出速度的实时预测功能。
预警模块包括阈值分析装置(19)和声光报警装置(20)，阈值分析装置(19)通过预警动态修正最小值算法实现下一时刻阈值的确定以及实时突出度比较功能，声光报警装置(20)实现对塌方的提前警报功能。
如图6所示，控制模块包括显示器(21)、车轮控制旋钮(22)、车体调整按钮、掌子面监测按钮和数据传输部分。显示器(21)实现操作提示与数据分析模块计算结果显示功能；车轮控制旋钮(22)控制车体前进方向；车体调整按钮包括校准键(23)和移动键(24)，实现车体位置测量和控制车体移动至掌子面轴线位置的功能；掌子面监测按钮包括开始键(25)和停止键(26)，实现掌子面监测的控制功能；数据传输部分包括存储键(27)、清空键(28)和Type-C接口(29)，实现监测数据的存储、删除和传输功能。
所述远程PC端(30)通过计算监测数据并绘制实时掌子面轴线轮廓图，实现可视化功能。
如图3所示，水平激光测距仪(4)与轴杆(5)连接，轴杆上端与角度测控器(9)的指针刚接，即水平激光测距仪发射激光的角度即为轴杆自转角度并与角度测控器指针旋转角度相同，保证了在通过激光测量车体与掌子面两端反射板(如图7所示，在掌子面两侧设置的)距离时角度测控器同时测量出激光的发射角度；同时如图4所示的GPS定位系统(11)可直接显示车体精确位置以及与掌子面轴线的关系；两者协同作用，根据具体情况选定测定原理与模式，以达到对车体初始位置的快速有效定位。
如图1所示，竖直向激光测距仪(12)和角度传感器(13)结构与上述激光定位装置的结构相同，即将该装置旋转90度使激光测距仪和角度传感器指针沿竖直方向转动，与图6所示的掌子面轴线位置反射板共同作用，达到测量车体与掌子面轴线各反射板距离和激光与水平面夹角的目的。
阈值分析器(19)运用预警动态修正最小值算法将掌子面突出度计算装置(17)计算得出的掌子面轴线突出度与围岩发生塌落时刻的掌子面轴线突出度比较，选取较小值作为新阈值；将实时掌子面轴线突出度与该时刻阈值比较，若掌子面突出度或掌子面突出速度任一指标超过阈值，则通过无线信号触发声光报警装置(20)，该装置闪红灯并发出语音提示，达到对隧道塌方的及时有效预警的目的。
数据存储器(14)通过遥控器将掌子面监测模块得到的初始数据传输到远程PC端(30)，PC端内置装置通过三角定理计算出掌子面轴线上各点距车体的横向距离和竖向距离，在以车体为原点、正前方和竖直方向为x、y轴的平面直角坐标系中标出并拟合成相应时刻的曲线，达到将掌子面轴线轮廓可视化的目的。
下面，结合一实施例对本发明进行进一步的描述。
A.判断隧道岩体情况：若隧道正在施工二次衬砌或因施工造成边墙部分遮挡，则仅打开GPS定位系统(11)；若隧道边墙未有遮挡物，则在待测掌子面两端和轴线安装反射片且打开GPS定位系统(11)，采用角度测控器、距离测控器与GPS定位的协同预判准则。连接数据传输束(15)并对实验装置连线进行检查；
B.将车体放置在隧道中与掌子面轴线平行的某一位置，并打开控制开关；
C.按遥控器上校准键(23)，开始通过激光测距仪(4)及角度测控器(9)测量车体与掌子面两端的距离与角度，同时通过GPS定位系统(11)直接对车体进行精确定位，两者协同作用通过数据分析模块计算并传输到遥控器显示屏上；
D.转动车轮控制旋钮(22)，确定车体运行方向；
E.按移动键(24)根据车体调整计算装置(16)所得数据控制距离测控器(10)转动一定角度，使车体行进对应距离至掌子面轴线上指定位置；
F.按校准键(23)再次通过水平激光测距仪(4)及GPS定位系统(11)验证车体位于掌子面轴线上；
G.按开始键(25)控制掌子面监测模块工作，竖直向激光测距仪(12)和角度感应器(13)测得数据通过数据存储器(14)传输至掌子面突出度预判装置(18)，运用高斯过程回归算法或BP神经网络算法计算掌子面轴线突出速度和掌子面突出度并发送无线信号显示在显示屏(21)上，掌子面监测结束则按停止键(26)；
H.按存储键(27)将所得数据存储模块中的数据无线传输至遥控器存储卡内，在监测下一个掌子面前按清空键(28)清空遥控器存储卡内存；
I.用Type-C线连接遥控器与PC端(30)，监测数据传输至PC端内进行数据分析，建立平面直角坐标系，将测量数据换算成坐标点，将每一时刻所有坐标点拟合，自动绘制掌子面轴线轮廓图。
本领域内的技术人员应明白，本公开的实施例可提供为方法、系统、或计算机程序产品。因此，本公开可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本公开可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本公开是参照根据本公开实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/ 或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
以上所述仅为本公开的优选实施例而已，并不用于限制本公开，对于本领域的技术人员来说，本公开可以有各种更改和变化。凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。
上述虽然结合附图对本公开的具体实施方式进行了描述，但并非对本公开保护范围的限制，所属领域技术人员应该明白，在本公开的技术方案的基础上，本领域技术人员不需要付出创造性劳动即可做出的各种修改或变形仍在本公开的保护范围以内。

Claims (10)

  1. 一种车载式隧道塌方监测预警系统，其特征是：包括移动车辆，所述移动车辆上搭载有掌子面监测模块、数据存储模块和处理器，其中：
    所述移动车辆包括底盘和位于底盘下端的移动机构，所述底盘设置有车身主体前端设置有测距机构，用于测定设置位置与掌子面的距离，所述移动机构上设置有角度测控器，分别通过角度控制移动机构的转动以及与车身主体正前方的夹角，所述移动机构上还设置有行进距离测量机构，以测量移动机构的运动距离；
    所述掌子面监测模块包括竖直向激光测距仪和角度传感器，所述竖直向激光测距仪通过转动轴水平设置于车身主体顶部，且竖直向激光测距仪可绕转动轴纵向旋转，所述角度传感器置测量竖直向激光测距仪发射的激光与水平面的夹角；
    所述数据存储模块，与掌子面监测模块相连接，存储竖直向激光测距仪测得的实时距离值、对应的发射角度和发射时间；
    所述处理器，被配置为接收测距机构和角度测控器测得的数据，计算得到车体到达掌子面轴线位置的路径；接收数据存储模块中的存储信息，并计算各时间点掌子面轴线突出度，预测掌子面轴线突出速度及该掌子面的最大突出度，若预测值大于设定的阈值时进行报警处理。
  2. 如权利要求1所述的一种车载式隧道塌方监测预警系统，其特征是：所述车身主体和底盘之间设置有自动调平机构，实现车身主体的整体水平；所述移动机构为多个车轮，所述车轮与底盘连接，底盘上与车轮相对应的位置与车身主体之间设置有一支撑柱，所述自动调平机构包括水准气泡、圆盘状位置感应器和调平柱，所述圆盘状位置感应器置于车身主体表面中心位置，水准气泡设置于圆盘状位置感应器的圆盘内，所述调平柱置于支撑柱上，通过调整各个调平柱可以使水准气泡位于圆盘状位置感应器的形心。
  3. 如权利要求1所述的一种车载式隧道塌方监测预警系统，其特征是：所述测距机构为水平激光测距仪，所述角度测控器分别置于车轮和水平激光测距仪上部，分别通过角度控制车轮左右转动与测定水平激光测距仪发射激光时，水平激光测距仪与车体行进正前方的夹角；所述距离测控器置于其中一个车轮外侧，控制车体的行进距离。
  4. 如权利要求1所述的一种车载式隧道塌方监测预警系统，其特征是：所述移动车辆上还设置有GPS定位系统，提供移动车辆的位置信息；
    或，利用所述GPS定位系统保证移动车体沿隧道中轴位置运行，如果隧道正在施工二次衬砌或因施工造成边墙部分遮挡，则单独采用GPS定位进行车体的调整；
    如果无遮挡物，则采用角度测控器、距离测控器与GPS定位系统进行协同调整车体的运行状态。
  5. 如权利要求1所述的一种车载式隧道塌方监测预警系统，其特征是：所述处理器包括车体调整计算单元，所述车体调整计算单元通过数据传输束接收水平向激光测距仪和位于其侧的角度测控器测得的数据计算得到车体到达掌子面轴线位置的路径，并传输至角度测控器和距离测控器，进一步控制移动机构的行进，利用三角定理计算得到车轮水平方向转动所需角度、行驶距离和车轮前进时滚动角度。
  6. 如权利要求1所述的一种车载式隧道塌方监测预警系统，其特征是：所述处理器包括掌子面突出度计算单元，通过数据传输束与数据存储模块连接，根据调用的存储数据计算掌子面轴线突出度，所述掌子面轴线突出度为竖向激光测距仪i时刻测得的实时距离值与初始时刻测得的实时距离值的差值，除以间隔时间后与竖向激光测距仪i时刻的发射角度余弦值相乘。
  7. 如权利要求1所述的一种车载式隧道塌方监测预警系统，其特征是：所述处理器包括掌子面突出度预判单元，掌子面突出度预判单元与所述掌子面突出度计算单元连接，利用高斯过程回归预测算法或BP神经网络算法，根据突出度的计算值对掌子面轴线突出速度与掌子面最大突出度进行预测。
  8. 如权利要求1所述的一种车载式隧道塌方监测预警系统，其特征是：所述处理器包括预警模块，所述预警模块根据围岩等级设定掌子面突出度的初始阈值，当预测的掌子面轴线突出速度或/和掌子面最大突出度超过设定初始阈值时，进行报警。
  9. 如权利要求1所述的一种车载式隧道塌方监测预警系统，其特征是：所述移动车辆受遥控装置控制，所述遥控装置包括用语控制移动机构的行走的输入模块和用于控制竖直向激光测距仪工作的输入模块；
    或，所述数据存储模块和处理器通过通信模块与远程PC端交互，所述远程PC端调用掌子面监测数据并通过计算显示实时掌子面轴线轮廓图，以竖直向激光测距仪激光发射点为原点，水平方向和竖直方向分别为x,y轴，建立平面直角坐标系，将测量数据换算成坐标点。
  10. 基于权利要求1-9中任一项所述的系统的工作方法，其特征是：在移动车辆行进的过程中，测量车辆位置与掌子面的距离，测量移动机构的运动距离；
    接收测距机构和角度测控器测得的数据，计算得到车体到达掌子面轴线位置的路径；
    根据竖直向激光测距仪测得的实时距离值、对应的发射角度和发射时间，计算各时间点 掌子面轴线突出度，预测掌子面轴线突出速度及该掌子面的最大突出度，若预测值大于设定的阈值时进行报警处理。
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