CN108917638A - The mounted measuring apparatus for vehicle of subway tunnel 3 d deformation monitoring based on datum tool - Google Patents
The mounted measuring apparatus for vehicle of subway tunnel 3 d deformation monitoring based on datum tool Download PDFInfo
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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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention belongs to subway tunnel three dimensional detection technical fields, a kind of mounted measuring apparatus for vehicle of subway tunnel 3 d deformation monitoring based on datum tool is disclosed, laser range finder, obliquity sensor, high-precision rotary platform, PLC controller are integrated jointly for high speed ranging, angle measurement, rotatable laser ranging system；Tunnel contour is measured with discrete multipoint system；In combination with the photoelectric encoder being installed on the measuring wheel of Tunnel testing vehicle bottom, obtain fixed displacement amount of the detection vehicle along tunnel axis direction between initial position and traveling-position, trigger, the data of specific position in tunnel that will test are transmitted to host computer by wireless communicator.The present invention makes a breakthrough in the practical technique novel aspects of the on-line monitoring of tunnel structure safety, and the technical system for formation rail traffic facility reliability design and analysis, test, evaluation lays the foundation, and obtaining in numerous areas has practicability.
Description
Technical field
The invention belongs to subway tunnel three dimensional detection technical field more particularly to a kind of subway tunnels based on datum tool
The mounted measuring apparatus for vehicle of 3 d deformation monitoring.
Background technique
Currently, the prior art commonly used in the trade is such：
Deformation monitoring has different measurement methods as a kind of novel high-tech technology.Photogrammetric technology is main
For the special measurement of large size of the deformation monitoring of large area, such as constructing tunnel plane.Utilize digital close range photogrammetry technology
Tunnel ground is carried out accurately to dissect measurement and intellectual technologyization analysis with the form of laser scanning, comprehensive geo-statistic tunnel is applied
The deformation on ground between duration.
Convergence monitoring method is suitable for the monitoring measurement in the tunnel of big cross section, but since the equipment of needs is excessive, such as
Platform truck etc., so that technology is complicated, it is inconvenient for operation.In the construction process, if tunnel is subjected to displacement, it is divided into " surface subsidence
Displacement " and " tunnel perimeter deflection " two kinds of situations.First is that surface subsidence displacement monitoring.Monitoring is buried in the hole location in tunnel to survey
Point is measured, sagging deformation occurs for observing construction period earth's surface, the benchmark of general setting three or so is comprehensive
The monitoring data of several points are analyzed, and the sinkage of earth's surface is calculated.Second is that tunnel perimeter deflection.Generally monitoring is measured
Point and benchmark are set on the two sidewalls in tunnel, monitor the convergent of the tunnel section of entire tunnel perimeter.
Subway is the abbreviation of underground railway traffic, belongs to track transportation industry.Subway is utilized in underground and holes, and uses
The mode of transportation of rail electric locomotive traction is removed for convenience of passenger, is built outside a disengaging exit on ground every a distance, one
As be not take up the soil and space in city, neither ground composing environment is polluted, and the noisy of city can be hidden for passenger and provided
Good environment.Subway is a kind of independent rail transit system, and operating normally is not influenced by surface road is crowded, can be fast
Victory, cosily transports passenger at safety.Rail traffic is mainstream and the direction of Modern City Traffic, and freight volume is big, and speed is fast, is done
Disturb small, low energy consumption, is known as the main artery of modern city, is the significant mark that a city incorporates international big city modern transportation
Will, it is not only a national national power and the strength of scientific and technological level shows, and is to solve city traffic pressure most
Effective mode.
In recent years, Chinese metro industry is quickly grown.In short time, only Beijing, Shanghai, these three cities of Guangzhou are every year
To put more than 40 kilometers of routes into operation respectively.According to parties concerned's introduction, by 2015, national metro operation total kilometrage will be up to 3000
Kilometer, and the year two thousand twenty, will have 40 urban construction subways, general planning mileage is 4.3 times of current total kilometrage up to 7000 kilometers.
This development progress is that never have on Chinese history, and rare in the world.But due to urban rail transit in China
Developing history is shorter, experience is also insufficient, and in addition, the manufacture that China not yet sets up independent urban track traffic produces
Industry, at present other than civil engineering, the systems such as vehicle, signal of communication, control of nearly all urban track traffic and shield etc.
Facility, equipment are all from country variant introduction or so-called domestic assembling.The rail traffic system that these standards are different, standard is different
System, it is possible to leave the problem of can not be ignored and security risk to construction and operation management.
Subway is the complication system of carrying highly dense crowd quick in small space a kind of, and narrow space determines it
The difficulty and complexity of management measure；It runs at high speed and has more highlighted the importance of system various aspects cooperation, each system
Each details may be to influence the factor of safety；It is densely-populated that determine rail traffic once accident occurs be exactly huge
Big danger and disaster；The safety of rail traffic and planning, construction, each stage close association of operation determine rail traffic again
The systematicness and globality of safety management.Safety accident once occurs for these explanations, urban track traffic, and consequence will be extremely tight
Weight.Therefore, the safety problem of subway is particularly important.
Safety problem during shield tunnel construction and metro operation is mainly manifested in the following aspects：It crouches under tunnel soft
Soil layer softens under Long-term Vibration load action to be caused to settle；Tunnel adjacent building construction activities cause tunnel deformation；Section tunnel
Sleeping soil layer soil erosion damaging property linear deformation under road；When tunnel passes through different soil property situation areas, soil body physical mechanics
Nature difference causes tunnel structure to generate differential settlement under action of long-term load；Shield Tunnel in Soft Soil differential settlement causes
Segment joint opens, subgrade of metro and section of jurisdiction removing crack, and portion percolating water occurs, emits mud and local failure, influences tunnel
The normal use and metro operation in road.
The health monitoring in tunnel can be divided into two stages：Construction stage and operation stage.Currently, being applied both at home and abroad for tunnel
The own comparative maturity of the monitoring technology in work stage, but it is far from enough to the monitoring attention degree during tunnel operation.In fact, fortune
Battalion's stage, the health monitoring in tunnel should more be paid attention to because time span is big, influence factor is complicated, disaster social influence is big.Tunnel is strong
Health monitoring includes that tunnel structure corrodes monitoring, structural deformation monitoring, structural internal force measure and ambient conditions monitoring, especially structure
Deformation monitoring is extremely important, and monitoring content is mainly the convergent deformation of the Longitudinal Settlement in tunnel, lateral displacement and section.
Settlement observation analysis discovery to built subway tunnel, the tunnel in soft soil layer is in long-term operation
In, it generally can all continue to increase Longitudinal Settlement, which accounts for the major part of total settlement.For example, from nineteen ninety-five to 1999
Between, Shanghai Underground No.1 line People Square Station to Xin Zha way station section subway tunnel largest cumulative settling amount has been more than 145 millimeters；
Huang Po way station is to the differential settlement of People Square Station running tunnel close to 90 millimeters, only in 1998-1999 year difference settling amount
Just up to 21 millimeters.Tunnel differential settlement can make tunnel generate the comfort that bending deformation influences the smooth and passenger of track, and
Cause tunnel seam to be opened, to be further exacerbated by infiltration, or even leakage mud, the structure in tunnel, connector and normal operation are caused
It threatens.For example, the destruction that the intercontinental sewage treatment pipeline for being located at California, USA occurs was precisely due to tunnel generated
Big longitudinal inhomogeneous deformation, so that joint cracking, muddy water is poured in, and pipeline is caused finally to destroy and surface collapse.Therefore necessary
Pay attention to development of the linear deformation in tunnel in long-term operation, and from design, construction, Control Engineering, ambient enviroment shadow
Ring etc. gives comprehensively control.
For the convergent deformation monitoring of tunnel cross-section, foreign countries have now been developed a kind of Tunnel testing vehicle, are exclusively used in subway and stop
Tunnel deformation status information is acquired between duration.Detection vehicle passes through the corresponding information of place and is just collected, and special via diagnosis
Family carries out network analysis.
China has also introduced such equipment in more tunnels, carries out the monitoring of tunnel cross-section deformation, achieves preferable
Effect.At high cost, data volume is few, and precision is low, and labor intensity is big, is unable to on-line measurement and early warning.
Currently, the subway line for the thousands of miles mileage that China has opened, the subway line built and established also are advised
Mould is huge, and the high density of subway population and high risk once accident occurs have been doomed metro safety problem and can not have been neglected
Depending on.During subway work and operation, the cross section deformation in tunnel is the key factor for influencing subway tunnel safety, when tunnel is disconnected
After face deforms more than certain value, it may occur that collapse equal danger.
In conclusion problem of the existing technology is：
1) monitoring efficiency is low：Detection for the Longitudinal Settlement in tunnel, lateral displacement and section convergent deformation, traditional monitoring
The mode of artificial periodic monitoring is mostly used to carry out, since its observation time is long, observation period and frequency limited are not suitable in tunnel
It is used under operation state.
Meanwhile with the raising that analysis requires, tunnel operation phase health monitoring systems need to have long-term online, automatic in real time
The functions such as monitoring, since monitoring project is more, route is long, measuring point is more, data volume is big, existing monitoring mode and means oneself cannot expire
Sufficient requirement of engineering.
2) monitoring cost is high：Traditional subway tunnel monitoring, needs by the tunnel or subway operating personnel of profession in subway
Each monitoring point is arrived in the vehicle non-operation period, detection device is set up, according to the detection program of standard to each tunnel cross-section
Upper each point measures, record the tunnel cross-section on starting point distance z and tunnel cross-section each point from rail center (or
Rangefinder position) distance and angle, then these information are converted into absolute three data for describing entire Metro Space
(x,y,z).It can be seen that the human input cost of monitoring works is relatively high, the labor intensity of technical staff is also very big.Due to setting
The excess loss of repeatedly mobile carrying and the calibration of standby needs, equipment and sensor is big, and corresponding equipment is paid also big.Generally
It sees, will lead to monitoring cost height.
3) monitoring accuracy is poor：The method and instrument that the monitoring of early stage subway tunnel uses mostly are classical ground survey methods
With the traditional instruments such as level, theodolite.It is also developed rapidly with technological progress, corresponding monitoring technology with the development of the times,
There are some new monitoring technology to occur.Such as the multisensor displacement monitoring technology based on hydrostatic level, it is received based on Ba Saite
The displacement monitoring technology for holding back system, displacement monitoring technology and terrestrial photogrammetric survey technology based on fixed automatic inclinometer
Etc., these technologies improve the convenience, agility and accuracy of measurement to a certain extent, but are still difficult to meet the modern times
The construction of subway neutralizes the detection requirement after being completed.If precision is in a centimetre level, and tunnel monitoring will be in mm or even following.Some
Monitoring technology needs install sensor array on tunnel section, have certain destruction to tunnel, and sensor itself is installed
The long-term reliability of structure also will affect monitoring accuracy.
4) information-based degree of integration is low：The trend of subway tunnel monitoring should be towards the side of automation, informationization and wisdom
To development.Monitoring the degree of automation is not high at present, and Data Integration is imperfect, " information island " phenomenon is presented, to track health shape
The judgement of condition largely needs those of skill in the art to participate in, intelligent, wisdomization deficiency.Since the device for being respectively adopted different is set
Standby and data interchange platform, mutual information are difficult effectively to be transmitted and shared.These all provide traffic information
Source is more dispersed, and segmentation situation is serious, and information island phenomenon is obvious.Cause to lack work compound, nothing between each department, department
Method, which is realized, to have complementary advantages, and is also unable to get to the special circumstances of appearance and timely and effectively handles.
Solve the difficulty and meaning of above-mentioned technical problem：
The difficulty for solving above-mentioned technical problem has：The research of academia and engineering circles has been obtained as technology develops some
Concern, is partially resolved, proposes some targeted schemes, but due to the complexity of subway tunnel 3 d deformation monitoring
Property and particularity, the problem is still without systematic solution.
Bring meaning is after solving above-mentioned technical problem：It is the direction of the following monitoring development using full-automatic monitoring,
The present invention reduces artificial subjective factors to the greatest extent, is continuously or periodically monitored using high precision apparatus.Not only greatly reduce
The human input cost of monitoring works reduces the labor intensity of technical staff, improves working efficiency.Meanwhile also achieving biography
The real-time monitoring that system personal monitoring can not accomplish, improves the validity and reliability of monitoring data.It is measured using modern instrument
The electronization of 3 d deformation monitoring is realized, the function of early detection instrument is not only retained but also upgraded.As rotation motor drives
Target measurement can automatically continuously be tracked by moving it, and without being manually operated, and it is with programing function, can be for predetermined
Target is programmed default, realization automatic operation.The informationization of subway tunnel 3 d deformation monitoring is improved, with ' sensor '
Based on Intelligent information acquisition, by the number spaceization of signal and information processing based on, with ' be able to achieve people, machine, object it is complete and mutual
The full networking of connection ' ' ' it is information exchange and resource sharing platform, realize the control and management process intelligence of track 3 d deformation monitoring
Intelligentization.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of subway tunnel 3 D deformation based on datum tool
The mounted measuring apparatus for vehicle of monitoring.
The invention is realized in this way a kind of vehicle load measurement of subway tunnel 3 d deformation monitoring based on datum tool fills
It sets, including：
Laser range finder, obliquity sensor, high-precision rotary platform, photoelectric encoder, PLC controller and wireless communicator；
Laser range finder, obliquity sensor are installed on high-precision rotary platform；
High-precision rotary platform is fixed by the bracket in measurement vehicle main body；
Photoelectric encoder is installed on the vehicle bottom measuring wheel of measurement vehicle main body, and PLC controller is installed on measurement vehicle main body one
Side, wireless communicator are mounted on measurement vehicle main body top；
Laser range finder, obliquity sensor, high-precision rotary platform, PLC controller are integrated jointly for high speed ranging, are surveyed
Angle, rotatable laser ranging system；Tunnel contour is measured with discrete multipoint system；
Laser ranging system combination photoelectric encoder obtains detection vehicle initial position and traveling position along tunnel axis direction
Fixed displacement amount between setting triggers the program built in PLC controller, and the data of specific position in tunnel that will test are passed through
Wireless communicator is transmitted to host computer；
The mounted measuring apparatus for vehicle of the subway tunnel 3 d deformation monitoring based on datum tool further comprises：Positioned at tunnel
The station level data processing system at road section both ends, for being analyzed and processed, obtaining the profile of Tunnel testing section and being intended
It closes；Station level data processing system carries out adjacent sections relative displacement detection using distributed intelligence network, passes through positioning datum
Transmitting, obtains the absolute displacement amount of each monitoring section；
And it is monitored using laser range finder and analyzes tunnel cross-section deformation；By dividing displacement and variation tendency
Analysis carries out the early warning of tunnel deformation state.
Another object of the present invention is to provide a kind of pre- police of subway tunnel 3 d deformation monitoring based on datum tool
Method includes：
1) mounted measuring apparatus for vehicle for carrying out the tunnel deformation of datum tool is constituted；To tunnel structure under track operating environment
Laser measurement sensor network geometric configuration is established, the transmitting of tunnel shape changing detection and positioning datum is carried out；
The transmission mechanism for establishing measured data and station level data processing system, constructs the theoretical mould of tunnel three-dimensional measurement
Type；
The longitudinal register system of integrated detection vehicle, carries out the position of each Measure section in tunnel, judge Measure section away from
Measure the accurate distance of initial position；
Establish the collection of laser ranging system, data transmission system, vehicle positioning system, real-time data acquisition and feedback system
It is matched at scheme and key parameter；Carry out detection error analysis, profile comparison and early warning troubleshooting；
2) acquisition of tunnel cross-section measurement data and analysis are carried out：
Progress multisensor syste calibration, sensor self-stabilization system, sensor network configuration, laser ranging system are same
Step, the storage of multisensor mass data transfers, multisensor data fusion processing, tunnel deformation analysis are issued with early warning, building
The data transmission mechanism in section station-keeping data domain and station level monitoring computer real-time, interactive；And passed through by station level monitoring system
Each communication interface software is configured and is modified to the software parameter of each integrated tunnel cross-section deformation detection school bus；
3) tunnel cross-section deformation detection is carried out：
Cross section deformation measuring instrument is integrated in vehicle mounted integrated system；Carry out cross section deformation measurement, damping supporting detection, longitudinal direction
Positioning system, detection control and data prediction；Vehicle mounted integrated system is communicated by wireless network and host computer；
4) it stores, analyzes and issue tunnel-type change information, form tunnel deformation early warning mechanism.
Further, step 4), including：
Spatial database is established to store and issue tunnel deformation information；
The data for acquiring simultaneously convergence analysis multisensor carry out Three-Dimensional Dynamic modeling to tested tunnel；By to each observation
The analysis of point historical data generates early warning report.
Further, step 1) judges in accurate distance of the Measure section away from measurement initial position, including：
Laser range finder is installed on detection vehicle, and the data measured obtain after the vibration compensation of dynamic benchmark measuring system
Section test point is obtained at a distance from mounting structure central point；
Assuming that rail plane midpoint is the coordinate origin (0,0) of the measuring system, manual measurement learns that laser scanner is being examined
The installation site coordinate of measuring car front end is (M, N), and the ranging of Shu Jiguang is L, measurement angle α, calculates the seat of detection corresponding points
Marking (x, y) is
Another object of the present invention is to provide a kind of subway tunnel 3 d deformation monitoring realized based on datum tool with
Early warning system includes：
The mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module：For under track operating environment to tunnel knot
Vertical laser measurement sensor network geometric configuration is constructed, the transmitting of tunnel shape changing detection and positioning datum is carried out；
The acquisition of tunnel cross-section measurement data and analysis module：For carrying out multisensor syste calibration, sensor self-stabilization
System, sensor network configuration, laser ranging system is synchronous, multisensor mass data transfers store, multi-sensor data melts
Conjunction processing, tunnel deformation analysis are issued with early warning, building section station-keeping data domain and station level monitoring computer real-time, interactive
Data transmission mechanism；And system is monitored by each communication interface software to each integrated tunnel cross-section deformation detection school bus by station level
Software parameter configured and modified；
Tunnel cross-section deformation detection module：For cross section deformation measuring instrument to be integrated in vehicle mounted integrated system；Carry out section
Deformation measurement, damping supporting detection, longitudinal register system, detection control and data prediction；Vehicle mounted integrated system passes through wireless
Network is communicated with host computer；
Tunnel deformation early warning mechanism memory module：Become information for storing, analyzing and issue tunnel-type, forms tunnel deformation
Early warning mechanism.
Further, the mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module and is also used to establish measured data
With the transmission mechanism of station level data processing system, the theoretical model of tunnel three-dimensional measurement is constructed.
Further, the mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes the longitudinal direction that module is also used to integrated detection vehicle
Positioning system carries out the position of each Measure section in tunnel, judges accurate distance of the Measure section away from measurement initial position.
Further, the mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module and is also used to establish laser ranging system
Integrated Solution and the key parameter matching of system, data transmission system, vehicle positioning system, real-time data acquisition and feedback system；
Carry out detection error analysis, profile comparison and early warning troubleshooting.
Further, the mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module, including：
The transfer module of tunnel shape changing detection and positioning datum establishes Laser Measuring to tunnel structure under track operating environment
The configuration of quantity sensor network geometry, carries out the transmitting of tunnel shape changing detection and positioning datum；
The theoretical model of tunnel three-dimensional measurement constructs module, establishes the biography of measured data and station level data processing system
Defeated mechanism constructs the theoretical model of tunnel three-dimensional measurement；
Measure section integrates the longitudinal register system of detection vehicle away from measurement initial position spacing module, carries out every in tunnel
The position of one Measure section judges accurate distance of the Measure section away from measurement initial position；
Error analysis, profile compares and early warning fault processing module, establishes laser ranging system, data transmission system, vehicle
Carry Integrated Solution and the key parameter matching of positioning system, real-time data acquisition and feedback system；Carry out detection error analysis, wheel
Exterior feature compares and early warning troubleshooting.
In conclusion advantages of the present invention and good effect are：
The present invention is on the basis of conventional tunnel measuring technique, by by laser ranging technique, PLC control technology, calculating
The machine communication technology combines, and proposes based on laser ranging technique to tunnel structure shape changing detection domain early warning scheme.This, which is that one kind is non-, connects
Touch and high-precision detection technique continuously measure each section of tunnel inner wall using vehicle-mounted laser rangefinder, obtain
The distance between laser emission point and section test point transmit measurement data to station level data processing system by wireless communication,
By network analysis tunnel deformed state and timely early warning.
Tunnel cross-section deformation auto-monitoring system of the invention is ground for hot work in progress or subway tunnel of having started operation
System, detection vehicle is equipped with PLC on detection vehicle along the progressive traveling of track of subway tunnel, controls laser range finder to tunnel
Section carries out continuous wheel measuring, and measured data are first stored in the PLC on detection vehicle, after section to be detected has travelled,
Laser range finder stops measurement, and the data in PLC are transmitted to station level data processing system through wireless communication.In conjunction with inspection
The longitudinal register system of measuring car, that is, photoelectric encoder is installed at Tunnel testing vehicle bottom, determine each Measure section in tunnel
Position, i.e., the section away from measurement initial position accurate distance.Data processing is mainly to carry out tunnel to measured data
The contour fitting of section obtains the wheel in tunnel section by curve matching according to the position coordinates of point limited on tunnel cross-section
Exterior feature, the timely early warning of disaster by compared with original design profile, obtaining the deformation situation of tunnel cross-section, to that may occur.
Relative to traditional tunnel manual detection mode, not only precision is high, stability is good for this system, also saves a large amount of people
Power material resources, have saved the plenty of time, are expected to create huge economic value.
Main advantages of the present invention have：
1) the sequence section survey of high-precision three-dimensional tunnel and early warning system are established.
The present invention can divide institute's measured data by software kit with precise measurement tunnel cross-section geomery data
Analysis obtains profile data, carries out the drafting of measured profile figure, the drafting of design section, the calculating of measured profile area, designs and break
The calculating of face area, measured profile and design section it is linear compared with (the i.e. position of measured profile each point and design section respective point
Set and compare), early warning is provided to the disaster that may occur.On this basis, it is compiled by loading onto photoelectricity on the wheel of detection trolley
Code device, can be obtained the real-time lengthwise position of trolley, therefore, the data for being not only some single section that this system obtains, and
And be the three-dimensional data for further including longitudinal coordinate, it can very easily obtain the lengthwise position of critical section.This is to positioning dangerous
The rapidity of section is repaired.
2) establish that multisensor is synchronous, relative positioning determines multi level control under appearance and environmental disturbances.
This system is logical with laser ranging technique, PLC control technology, computer on the basis of conventional tunnel measuring technique
Letter technology combines, and has integrated software and hardware, hardware includes laser range finder, rangefinder controller, wireless communicator, detection
Vehicle and photoelectric encoder etc., software module can carry out the Fitting Analysis of tunnel contour according to data measured, overcome including more
High-precise synchronization, relative positioning between the calibration of sensor network, multisensor determine the interference such as the irregular vibration of appearance and basis
Under multi level control the problems such as.
It is innovated by above-mentioned key technology, the present invention is obtained in the practical technique novel aspects of the safety monitoring of tunnel structure
It breaks through, the technical system for formation rail traffic facility reliability design and analysis, test, evaluation lays the foundation, and obtains in the field
Obtain a collection of technology, method and utility system with independent intellectual property rights.
The analysis results that the present invention obtains in addition to the monitoring for subway tunnel, the present invention can also be generalized to it is many other
Field.For example, China possesses highways most in the world, railway tunnel, the present invention also can be used for the section of highway, railway tunnel
Deformation monitoring.When for railway tunnel, principle is substantially similar to subway tunnel, and detection vehicle is slowly travelled along rail；With
When on vcehicular tunnel, the homing device based on lane line can be added, makes to detect vehicle always in a certain lane center traveling；
It can be also used for coal mine landslide, early warning etc. before water leak accident, there is huge market application prospect.
Detailed description of the invention
Fig. 1 is that the subway tunnel three-dimensional provided in an embodiment of the present invention based on datum tool becomes
The mounted measuring apparatus for vehicle figure of shape monitoring.
In figure：1, laser range finder；2, obliquity sensor；3, vehicle main body is measured；4, photoelectric encoder；5, PLC controller；
6, wireless communicator.
Fig. 2 be each measurement point of tunnel cross-section provided in an embodiment of the present invention to rangefinder apart from detection principle diagram.
Fig. 3 is detection profiled outline fitted figure provided in an embodiment of the present invention.
Fig. 4 is tunnel axis datum tool method figure provided in an embodiment of the present invention.
Fig. 5 is the work flow diagram of all section surveys in transit tunnel provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The required hardware and software environment of the present invention has substantially, possesses ground Dynamic Data Acquiring vehicle and various at present
Face laser scanner etc..
Such as Fig. 1, the vehicle load measurement of the subway tunnel 3 d deformation monitoring provided in an embodiment of the present invention based on datum tool
Device, including：
Laser range finder 1, obliquity sensor 2, high-precision rotary platform 3, photoelectric encoder 4, PLC controller 5 and channel radio
Believe device 6；
Laser range finder 1, obliquity sensor 2, high-precision rotary platform 3, PLC controller 5 integrate jointly for high speed ranging,
Angle measurement, rotatable laser ranging system；Tunnel contour is measured with discrete multipoint system；
In combination with the photoelectric encoder 4 being installed on the measuring wheel of Tunnel testing vehicle bottom, detection vehicle is obtained along tunnel axis
Fixed displacement amount on direction between initial position and traveling-position, trigger, the specific position in tunnel that will test
Data are transmitted to host computer by wireless communicator 6；
It is analyzed and processed by station level data processing system, obtains the contour fitting of Tunnel testing section；
Intelligent network is set using distribution and carries out adjacent section relative displacement detection, by the transmitting of positioning datum, is obtained every
The absolute displacement amount of a monitoring section, and monitored using cross section deformation measuring instrument and analyze tunnel cross-section deformation；By to displacement
The analysis of size and variation tendency carries out the early warning of tunnel deformation state.
Subway tunnel 3 d deformation monitoring method for early warning provided in an embodiment of the present invention based on datum tool, including：
1) mounted measuring apparatus for vehicle for carrying out the tunnel deformation of datum tool is constituted；To tunnel structure under track operating environment
Laser measurement sensor network geometric configuration is established, the transmitting of tunnel shape changing detection and positioning datum is carried out；
The transmission mechanism for establishing measured data and station level data processing system, constructs the theoretical mould of tunnel three-dimensional measurement
Type；
Specifically have：
Certain point (such as monitoring station position of tunnel portal) originated in subway tunnel is used as datum mark (origin), from
The datum mark sets out Tunnel testing vehicle along the gradual traveling of track in subway tunnel.It can although the rail trend in tunnel has
There can be the situation for deviateing straight line, the rail axis along direction of advance is equivalent to the linear positive Z axis in tunnel threedimensional model (such as
Shown in figure, Z-direction, horizontally to the right straight line), it is installed on the measuring wheel of Tunnel testing vehicle bottom and is compiled for measuring the photoelectricity of operating range
Code device, obtaining detection vehicle initial position to fixed displacement amount between traveling-position, different location along tunnel axis direction has
Different Z values, such as Za,Zb,Zc... .., to determine the position of each Measure section in tunnel, i.e., the section is away from measurement start bit
The accurate distance Z set.
On different tunnel axis positions, the PLC module control vehicle-mounted laser rangefinder on detection vehicle is mounted on to difference
Post-tunnel section (section and rail axis be vertical) continuous wheel measuring of carry out, every it is fixed exercise distance again into
The wheel measuring of tunnel cross-section of row.What the measurement of different location tunnel cross-section indicated is all a series of angles from 0 ° -->
The distance of test point and vehicle-mounted laser rangefinder mounting structure central point (M, N) on 360 ° of arc-shaped tunnel cross-sections when gradually scanning
Li(subscript i=1,2,3......).Measured data (range data that arc-shaped tunnel cross-section one encloses) are all first kept in every time
Enter in the PLC detected on vehicle.The absolute coordinate of each test point should be (x on so arc-shaped tunnel cross-sectioni,yi), conversion is closed
It is as follows：
(test point of certain section different scanning angle [alpha] is indicated with i=1,2,3......
Position)
In formula, the angle of laser beam and horizontal plane, i.e. scanning angle when α is vehicle-mounted laser stadia surveying；
M, N are laser range finder positions when initial position is to traveling-position Z along tunnel axis direction, this is with tunnel
The absolute position of Tunnel testing vehicle laser range finder central point, is indicated as with three dimensional space coordinate, is when interior starting point is origin
(M,N,Z)；
X, y are a series of test point (x, y) absolute coordinates of the detection section, are calculated according to the position (M, N)；
L be the detection section a series of test points relative to vehicle-mounted laser rangefinder laser emitting point distance.
By above-mentioned calculating, one group of data (x corresponding with certain arc-shaped tunnel cross-section is obtainedi,yi,Z).Area to be detected
After the tunnel cross-section measurement of Duan Suoyou tested point, laser range finder just stops measurement, and the data in PLC pass through wired or nothing
The mode of line communication is transmitted to station level data processing system.Data processing is mainly to carry out tunnel cross-section to measured data
Contour fitting just can obtain actual measurement tunnel section according to the position coordinates of point limited on tunnel cross-section by curve matching
Profile.
The data that there is station level data center in this way are a series of (xi,yi,Z)Ω, wherein Ω=a, b, c... indicate a system
The tunnel cross-section sequence of column, and i=1,2,3,4.... indicate that a series of laser rangings of current tunnel section detect point sequence.It is soft
Part system recalls corresponding software and is intended each detection profiled outline respectively according to the coordinate value of test points all on each section
Conjunction comes out.The method of fitting can be selected according to precision or in real time needs, for example can use linear regression, least square method
Etc..A curve can be fitted to obtain by the data of all test points of some section, this curve is exactly surveyed tunnel at that time
The contour line in road section.Certainly.At the beginning of tunnel is built up or by after the assay was approved, also being measured according to same method
Initial the normal data (being considered normal data) for meeting design requirement, is fitted the curve that these data obtain at this time and is considered
Standard curve.Theoretically, the two contour lines should be concentric circles, and if there is deformation, the circumference data of two concentric circles can occur
Deviation.By compared with original design profile, obtaining the deformation situation of tunnel cross-section, thus timely to the disaster that may occur
Early warning.
The longitudinal register system of integrated detection vehicle, carries out the position of each Measure section in tunnel, judge Measure section away from
Measure the accurate distance of initial position；
Establish the collection of laser ranging system, data transmission system, vehicle positioning system, real-time data acquisition and feedback system
It is matched at scheme and key parameter；Carry out detection error analysis, profile comparison and early warning troubleshooting；
The profile compares and early warning troubleshooting specifically includes：
The profiled outline judgement whether deformation occurs on certain tunnel axis position of Tunnel testing vehicle first, this need by
In the memory of all test point (x, y) coordinates deposit PLC of the detection section, data are passed to station level data processing system later
System.Laser institute's ranging on current section circular contour based on eye point from the absolute position based on tunnel initial point or origin
Conversion relation is as follows：
(test point of certain section different scanning angle [alpha] is indicated with i=1,2,3......
Position)
In formula, the angle of laser beam and horizontal plane, i.e. scanning angle when α is vehicle-mounted laser stadia surveying；
M, N are laser range finder positions when initial position is to traveling-position Z along tunnel axis direction, this is with tunnel
The absolute position of Tunnel testing vehicle laser range finder central point, is indicated as with three dimensional space coordinate, is when interior starting point is origin
(M,N,Z)；
X, y are a series of test point (x, y) absolute location coordinates of the detection section, are calculated according to the position (M, N)；
L be the detection section a series of test points relative to vehicle-mounted laser rangefinder laser emitting point distance.
By above-mentioned calculating, one group of data (x corresponding with certain arc-shaped tunnel cross-section is obtainedi,yi,Z).Area to be detected
After the tunnel cross-section measurement of Duan Suoyou tested point, laser range finder just stops measurement, and the data in PLC pass through wired or nothing
The mode of line communication is transmitted to station level data processing system.Data processing is mainly to carry out tunnel cross-section to measured data
Contour fitting just can obtain actual measurement tunnel section according to the position coordinates of point limited on tunnel cross-section by curve matching
Profile.
System recalls corresponding software according to the coordinate values of test points all on each section for each detection profiled outline
It fits and respectively.The method of fitting can be selected according to precision or in real time needs, for example can use linear regression, minimum
Square law etc..A curve can be fitted to obtain by the data of all test points, this curve is exactly surveyed tunnel at that time
The contour line in section.Certainly.At the beginning of tunnel is built up or by after the assay was approved, also having been measured most according to same method
First the normal data (being considered normal data) for meeting design requirement, is fitted the curve that these data obtain at this time and is considered to mark
Directrix curve.Theoretically, the two contour lines should be concentric circles, and if there is deformation, the circumference data of two concentric circles can occur partially
Difference.
The followed by early warning of deformation.If deformation within the allowed band of design, although tunnel is whole at present
Deformation is also within the acceptable range.But no matter using which kind of deformation judgement algorithm (such as maximum deviation method or minimum
Square law etc.), the maximum deviation or comprehensive deviation of data point have a lasting, stable, unidirectional speed of deformation.By this speed
, may be in some following time interval if accumulation, this deviation can be more than permissible value.Therefore this method can be to such
Phenomenon can judge in advance, provide early warning.
2) acquisition of tunnel cross-section measurement data and analysis are carried out：
Progress multisensor syste calibration, sensor self-stabilization system, sensor network configuration, laser ranging system are same
Step, the storage of multisensor mass data transfers, multisensor data fusion processing, tunnel deformation analysis are issued with early warning, building
The data transmission mechanism in section station-keeping data domain and station level monitoring computer real-time, interactive；Mainly passed by wireless network
It is defeated, by a series of (x of had plenty of sectionsi,yi, Z) and data sequence, by certain coding mode by each group of data point packet
A data packet (containing redundancy and calibration) is dressed up, a data packet is once sent, is with station level monitoring system at tunnel exit
Shi Jinhang data exchange.
And system is monitored by each communication interface software to the software of each integrated tunnel cross-section deformation detection school bus by station level
Parameter is configured and is modified；
3) tunnel cross-section deformation detection is carried out：
Cross section deformation measuring instrument is integrated in vehicle mounted integrated system；Carry out cross section deformation measurement, damping supporting detection, longitudinal direction
Positioning system, detection control and data prediction；Vehicle mounted integrated system is communicated by wireless network and host computer；
In data prediction, specifically include：
The data that vehicle-mounted laser rangefinder on Tunnel testing vehicle directly measures are a series of test points relative to vehicle
The range data for carrying the laser emitting point of laser range finder, is that can not be used for tunnel deformation just with these one-dimensional data
Detection and early warning.The data of actually drawing three-dimensional tunnel cross-section are a series of three-dimensional datas (x, y, z).Z number among these
According to the photoelectric detector under Tunnel testing vehicle at measuring wheel, i.e., using starting point in tunnel as origin when to Tunnel testing vehicle
Absolute position z between laser range finder central point, and (x, y) precalculates acquisition according to the following formula：
(each letter meaning see on).
Furthermore x is obtained, the data such as y, z need the sensor synergism of whole system to work, the raw sensory collected
Data cannot generally be directly used as the drafting of three-dimensional tunnel section, need to carry out the processing and conversion of early period.Substantially transformational relation,
I.e.：
Laser range finder directly obtains laser emitting point to the distance L of tunnel cross-section different location point, is converted to these points
(x, y)；
Obliquity sensor directly obtains the angle between laser emitting direction and horizontal direction, i.e. angle measurement α；
High-precision rotary platform directly controls laser emitting direction and degree gradually scans from 0 degree to 360, even if angle measurement α=0~
360 ° of variations；
Photoelectric encoder is installed on the measuring wheel of Tunnel testing vehicle bottom, is directly detected vehicle and is originated along tunnel axis direction
Fixed displacement amount z between position and traveling-position；
PLC controller；System for controlling and managing all parts such as high speed ranging, angle measurement, rotation or sensor.It obtains
It takes and collects all measurement point three-dimensional coordinates (x, y, z) in each tunnel section；
4) it stores, analyzes and issue tunnel-type change information, form tunnel deformation early warning mechanism.
Step 4), including：
Spatial database is established to store and issue tunnel deformation information；
The data for acquiring simultaneously convergence analysis multisensor carry out Three-Dimensional Dynamic modeling to tested tunnel；By to each observation
The analysis of point historical data generates early warning report.
Step 1) integrates the longitudinal register system of detection vehicle, carries out the position of each Measure section in tunnel, judges to measure
In accurate distance of the section away from measurement initial position,
Laser range finder is installed on detection vehicle, and the data measured obtain after the vibration compensation of dynamic benchmark measuring system
Section test point is obtained at a distance from mounting structure central point；
Assuming that rail plane midpoint is the coordinate origin (0,0) of the measuring system, manual measurement learns that laser scanner is being examined
The installation site coordinate of measuring car front end is (a, b), and the ranging of Shu Jiguang is L, measurement angle α, calculates the seat of detection corresponding points
Marking (x, y) is
Subway tunnel 3 d deformation monitoring provided in an embodiment of the present invention based on datum tool includes with early warning system：
The mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module：
Laser measurement sensor network geometric configuration is established to tunnel structure under track operating environment, carries out tunnel deformation
The transmitting of detection and positioning datum；
The transmission mechanism for establishing measured data and station level data processing system, constructs the theoretical mould of tunnel three-dimensional measurement
Type；
The longitudinal register system of integrated detection vehicle, carries out the position of each Measure section in tunnel, judge Measure section away from
Measure the accurate distance of initial position；
Establish the collection of laser ranging system, data transmission system, vehicle positioning system, real-time data acquisition and feedback system
It is matched at scheme and key parameter；Carry out detection error analysis, profile comparison and early warning troubleshooting；
The acquisition of tunnel cross-section measurement data and analysis module：
Progress multisensor syste calibration, sensor self-stabilization system, sensor network configuration, laser ranging system are same
Step, the storage of multisensor mass data transfers, multisensor data fusion processing, tunnel deformation analysis are issued with early warning, building
The data transmission mechanism in section station-keeping data domain and station level monitoring computer real-time, interactive；And passed through by station level monitoring system
Each communication interface software is configured and is modified to the software parameter of each integrated tunnel cross-section deformation detection school bus；
Tunnel cross-section deformation detection module：
Cross section deformation measuring instrument is integrated in vehicle mounted integrated system；Carry out cross section deformation measurement, damping supporting detection, longitudinal direction
Positioning system, detection control and data prediction；Vehicle mounted integrated system is communicated by wireless network and host computer；
Tunnel deformation early warning mechanism memory module：Become information for storing, analyzing and issue tunnel-type, forms tunnel deformation
Early warning mechanism.
The mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module, including：
The transfer module of tunnel shape changing detection and positioning datum establishes Laser Measuring to tunnel structure under track operating environment
The configuration of quantity sensor network geometry, carries out the transmitting of tunnel shape changing detection and positioning datum；
The theoretical model of tunnel three-dimensional measurement constructs module, establishes the biography of measured data and station level data processing system
Defeated mechanism constructs the theoretical model of tunnel three-dimensional measurement；
Measure section integrates the longitudinal register system of detection vehicle away from measurement initial position spacing module, carries out every in tunnel
The position of one Measure section judges accurate distance of the Measure section away from measurement initial position；
Error analysis, profile compares and early warning fault processing module, establishes laser ranging system, data transmission system, vehicle
Carry Integrated Solution and the key parameter matching of positioning system, real-time data acquisition and feedback system；Carry out detection error analysis, wheel
Exterior feature compares and early warning troubleshooting.
Below with reference to concrete analysis, the invention will be further described,
Demonstration Application
In practical application verifying, using a section in the metro company operation tunnel of Hangzhou City as Demonstration, realize
The safety monitoring of tunnel structure and deformation analysis and early warning publication.And it compares and tests with design tunnel and conventional method
Card, forms the safety monitoring and practical technique of tunnel structure.
The mounted measuring apparatus for vehicle for the subway tunnel 3 d deformation monitoring based on datum tool that inventive embodiments provide,
Using the non-operation of subway tunnel and repair time, tunnel inner wall is measured by vehicle-mounted laser rangefinder.
Vehicle is detected along the progressive traveling of track of subway tunnel, PLC is housed on detection vehicle, controls laser range finder to tunnel
Road section carries out continuous wheel measuring, and measured data are first stored in the PLC on detection vehicle, and section to be detected has travelled
Afterwards, laser range finder stops measurement, and the data in PLC are transmitted to station level data processing system through wireless communication.Knot
The longitudinal register system of detection vehicle is closed, that is, photoelectric encoder is installed at Tunnel testing vehicle bottom, to determine each survey in tunnel
Measure the position of section, i.e. accurate distance of the section away from measurement initial position.Data processing mainly to measured data into
The contour fitting of row tunnel cross-section just can obtain tunnel by curve matching according to the position coordinates of point limited on tunnel cross-section
The profile in road section, by compared with original design profile, obtaining the deformation situation of tunnel cross-section, thus to possible generation
The timely early warning of disaster.
Vehicular laser ranging system illustraton of model is as shown in Figure 1, be divided into three parts：Tunnel cross-section laser ranging system,
Detect vehicle longitudinal movement positioning device and wireless data communication device.System is mainly by laser range finder, obliquity sensor, high-precision
Spend turntable, photoelectric encoder, PLC controller and wireless communicator composition.Wherein, by laser range finder, obliquity sensor and
High-precision rotary platform combines, and forming one can be with high speed ranging, angle measurement, rotatable laser ranging system.System is with PLC
For controller, tunnel contour is measured with discrete multipoint system by laser ranging system, in combination with being installed on
Photoelectric encoder on the measuring wheel of Tunnel testing vehicle bottom obtains detection vehicle initial position and traveling-position along tunnel axis direction
Between fixed displacement amount, trigger, the data of specific position in tunnel that will test are transmitted to by wireless communicator
Host computer is analyzed and processed by station level data processing system, to obtain the contour fitting of Tunnel testing section.
Intelligent network is set using distribution and carries out adjacent section relative displacement detection, by the transmitting of positioning datum, is obtained every
The absolute displacement amount of a monitoring section, and monitored using cross section deformation measuring instrument and analyze tunnel cross-section deformation.By to displacement
The analysis of size and variation tendency carries out the early warning of tunnel deformation state.This project is analysis object with one section of section.
Fig. 2 is tunnel cross-section provided in an embodiment of the present invention apart from detection principle diagram.
Fig. 3 is detection profiled outline fitted figure provided in an embodiment of the present invention.
Fig. 4 is tunnel axis datum tool method figure provided in an embodiment of the present invention.
Fig. 5 is the work flow diagram of all section surveys in transit tunnel provided in an embodiment of the present invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of subway tunnel 3 d deformation monitoring method for early warning based on datum tool, which is characterized in that described to be based on benchmark
The subway tunnel 3 d deformation monitoring method for early warning of transmitting includes：
1) mounted measuring apparatus for vehicle for carrying out the tunnel deformation of datum tool is constituted；Tunnel structure is established under track operating environment
Laser measurement sensor network geometric configuration carries out the transmitting of tunnel shape changing detection and positioning datum；
The transmission mechanism for establishing measured data and station level data processing system, constructs the theoretical model of tunnel three-dimensional measurement；
The longitudinal register system of integrated detection vehicle, carries out the position of each Measure section in tunnel, judges Measure section away from measurement
The accurate distance of initial position；
Establish the integrated side of laser ranging system, data transmission system, vehicle positioning system, real-time data acquisition and feedback system
Case and key parameter matching；Carry out detection error analysis, profile comparison and early warning troubleshooting；
2) acquisition of tunnel cross-section measurement data and analysis are carried out：
Progress multisensor syste calibration, sensor self-stabilization system, sensor network configuration, laser ranging system are synchronous, more
The storage of sensor mass data transfers, multisensor data fusion processing, tunnel deformation analysis are issued with early warning, construct section phase
To the data transmission mechanism of position data field and station level monitoring computer real-time, interactive；And each communication is passed through by station level monitoring system
Interface software is configured and is modified to the software parameter of each integrated tunnel cross-section deformation detection school bus；
3) tunnel cross-section deformation detection is carried out：
Cross section deformation measuring instrument is integrated in vehicle mounted integrated system；Carry out cross section deformation measurement, damping supporting detection, longitudinal register
System, detection control and data prediction；Vehicle mounted integrated system is communicated by wireless network and host computer；
4) it stores, analyzes and issue tunnel-type change information, form tunnel deformation early warning mechanism.
2. the subway tunnel 3 d deformation monitoring method for early warning based on datum tool as described in claim 1, which is characterized in that
Step 1) judge Measure section away from measurement initial position accurate distance in, including：
Laser range finder is installed on detection vehicle, and the data measured are broken after the vibration compensation of dynamic benchmark measuring system
Face test point is at a distance from mounting structure central point；
Assuming that rail plane midpoint is the coordinate origin (0,0) of the measuring system, manual measurement learns laser scanner in detection vehicle
The installation site coordinate of front end is (M, N), and the ranging of Shu Jiguang is L, measurement angle α, calculate detection corresponding points coordinate (x,
Y) it is
3. the subway tunnel 3 d deformation monitoring method for early warning based on datum tool as described in claim 1, which is characterized in that
Step 4), including：
Spatial database is established to store and issue tunnel deformation information；
The data for acquiring simultaneously convergence analysis multisensor carry out Three-Dimensional Dynamic modeling to tested tunnel；By being gone through to each observation point
The analysis of history data generates early warning report.
4. a kind of subway tunnel 3 d deformation monitoring method for early warning realized described in claim 1 based on datum tool based on base
The subway tunnel 3 d deformation monitoring and early warning system of quasi- transmitting, which is characterized in that the subway tunnel based on datum tool
3 d deformation monitoring includes with early warning system：
The mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module：For being constructed under track operating environment to tunnel knot
Vertical laser measurement sensor network geometric configuration, carries out the transmitting of tunnel shape changing detection and positioning datum；
The acquisition of tunnel cross-section measurement data and analysis module：For carry out multisensor syste calibration, sensor self-stabilization system,
Sensor network configuration, laser ranging system is synchronous, multisensor mass data transfers store, at Fusion
Reason, tunnel deformation analysis are issued with early warning, construct the number in section station-keeping data domain and station level monitoring computer real-time, interactive
According to transmission mechanism；And system is monitored by each communication interface software to the soft of each integrated tunnel cross-section deformation detection school bus by station level
Part parameter is configured and is modified；
Tunnel cross-section deformation detection module：For cross section deformation measuring instrument to be integrated in vehicle mounted integrated system；Carry out cross section deformation
Measurement, damping supporting detection, longitudinal register system, detection control and data prediction；Vehicle mounted integrated system passes through wireless network
It is communicated with host computer；
Tunnel deformation early warning mechanism memory module：Become information for storing, analyzing and issue tunnel-type, forms tunnel deformation early warning
Mechanism.
5. the subway tunnel 3 d deformation monitoring based on datum tool and early warning system, feature exist as claimed in claim 4
In the mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module and is also used to establish at measured data and station level data
The transmission mechanism of reason system constructs the theoretical model of tunnel three-dimensional measurement.
6. the subway tunnel 3 d deformation monitoring based on datum tool and early warning system, feature exist as claimed in claim 4
In, the mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes the longitudinal register system that module is also used to integrated detection vehicle, into
The position of each Measure section in row tunnel judges accurate distance of the Measure section away from measurement initial position.
7. the subway tunnel 3 d deformation monitoring based on datum tool and early warning system, feature exist as claimed in claim 4
In the mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module and is also used to establish laser ranging system, data transmission system
Integrated Solution and the key parameter matching of system, vehicle positioning system, real-time data acquisition and feedback system；Carry out detection error point
Analysis, profile compares and early warning troubleshooting.
8. the subway tunnel 3 d deformation monitoring based on datum tool and early warning system, feature exist as claimed in claim 4
In, the mounted measuring apparatus for vehicle of the tunnel deformation of datum tool constitutes module, including：
The transfer module of tunnel shape changing detection and positioning datum is established laser measurement to tunnel structure under track operating environment and is passed
The configuration of sensor network geometry, carries out the transmitting of tunnel shape changing detection and positioning datum；
The theoretical model of tunnel three-dimensional measurement constructs module, establishes the conveyer of measured data and station level data processing system
System constructs the theoretical model of tunnel three-dimensional measurement；
Measure section integrates the longitudinal register system of detection vehicle away from measurement initial position spacing module, carries out each survey in tunnel
The position for measuring section judges accurate distance of the Measure section away from measurement initial position；
Error analysis, profile compares and early warning fault processing module, establishes laser ranging system, data transmission system, vehicle-mounted fixed
Integrated Solution and the key parameter matching of position system, real-time data acquisition and feedback system；Carry out detection error analysis, profile ratio
Pair and early warning troubleshooting.
9. a kind of subway tunnel 3 d deformation monitoring method for early warning realized described in claim 1 based on datum tool based on base
The mounted measuring apparatus for vehicle of the subway tunnel 3 d deformation monitoring of quasi- transmitting, which is characterized in that the subway based on datum tool
The mounted measuring apparatus for vehicle of tunnel 3 d deformation monitoring includes：
High-precision rotary platform；
High-precision rotary platform is fixed by the bracket in measurement vehicle main body；
Laser range finder, obliquity sensor are installed on high-precision rotary platform；
Photoelectric encoder is installed on the vehicle bottom measuring wheel of measurement vehicle main body, and PLC controller is installed on measurement vehicle main body side, nothing
Line communicator is mounted on measurement vehicle main body top；
Laser range finder, obliquity sensor, high-precision rotary platform, PLC controller integrate jointly for high speed ranging, angle measurement, can
The laser ranging system of rotation；Tunnel contour is measured with discrete multipoint system；Laser range finder is for monitoring
And analyze tunnel cross-section deformation；By the analysis to displacement and variation tendency, the early warning of tunnel deformation state is carried out；
Laser ranging system combination photoelectric encoder, acquisition detection vehicle is along tunnel axis direction between initial position and traveling-position
Fixed displacement amount, trigger the program built in PLC controller, the data of specific position in tunnel that will test are by wireless
Communicator is transmitted to host computer.
10. the mounted measuring apparatus for vehicle of the subway tunnel 3 d deformation monitoring based on datum tool as described in claim 1, special
Sign is that the mounted measuring apparatus for vehicle of the subway tunnel 3 d deformation monitoring based on datum tool further comprises：Positioned at tunnel
The station level data processing system at road section both ends, for being analyzed and processed, obtaining the profile of Tunnel testing section and being intended
It closes；Station level data processing system carries out adjacent sections relative displacement detection using distributed intelligence network, passes through positioning datum
Transmitting, obtains the absolute displacement amount of each monitoring section.
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| CN110145366A (en) * | 2019-05-10 | 2019-08-20 | 山东大学 | A kind of vehicular Tunnel Landslide monitoring and pre-warning system and method |
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| CN110530281A (en) * | 2019-08-30 | 2019-12-03 | 武汉理工大学 | Cage guide deformation measuring device based on two dimensional laser scanning instrument |
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| CN112815909A (en) * | 2020-12-31 | 2021-05-18 | 山东高速工程检测有限公司 | Tunnel deformation measuring method and system and measuring robot |
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| CN114674281A (en) * | 2022-03-25 | 2022-06-28 | 贵州省交通规划勘察设计研究院股份有限公司 | Tunnel automatic monitoring and measuring equipment and method based on scattered point fitting measurement |
| CN114705128A (en) * | 2022-03-25 | 2022-07-05 | 贵州省交通规划勘察设计研究院股份有限公司 | Tunnel automatic monitoring and measuring equipment and method based on fixed-point itinerant measurement |
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| CN114993198A (en) * | 2022-07-18 | 2022-09-02 | 中建安装集团有限公司 | Automatic deformation monitoring system and method for collinear subway structure under proximity construction condition |
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